Abstract
Recent research study on obstacle detection and path planning in unknown environments has been identified as a key issue in the development of autonomous mobile robotic systems. This paper presents a path planning and control strategy for blind robots in indoor environments. In particular, a systematic approach is employed to convert 3D and 2D navigation maps from a 3D sparse map established by a scout robot equipped with onboard vision using a VSLAM (visual simultaneous localisation and mapping) algorithm. Based on the navigation map, desired trajectory can be planned for a blind robot to reach the target. An effective image-based control law is proposed to drive the blind robot to follow the planned trajectory with real-time monocular camera vision. The proposed navigation and control system has been validated by simulations and experiments with a blind robot using a 3D sparse map and real-time vision from surveillance cameras.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Advanced Mechatronic Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
