Navigation Algorithm For Mobile Robots Research Articles

Vision Based Navigation System of Autonomous Mobile Robot. Position/Orientation Control by Landmark Recognition with Plus and Minus Primitives.

Template matching is a popular method for visual recognition. However the method has two major problems: (1) Much time is required to detect the target object, and (2) Mistakes in recognition of the target object occur is some cases. In order to solve problem, (1) we apply a fuzzy neural network algorithm. However, problem (2) remains to be solved. In this paper, we propose a robust visual recognition algorithm for autonomous mobile robot navigation. The proposed algorithm employs Fuzzy Template Matching with a target object as well as similar objects in the environment. As a result, the robot verifies its tentative recognition by comparing the likelihood of plus elements (target objects) with that of minus elements (similar objects). The validity of the proposed navigation system is shown through some experimental results.

Temporal coordination of perceptual algorithms for mobile robot navigation

A methodology for integrating multiple perceptual algorithms within a reactive robotic control system is presented. A model using finite state accepters is developed as a means for expressing perceptual processing over space and time in the context of a particular motor behavior. This model can be utilized for a wide range of perceptual sequencing problems. The feasibility of this method is demonstrated in two separate implementations. The first is in the context of mobile robot docking where the mobile robot uses four different vision and ultrasonic algorithms to position itself relative to a docking workstation over a long-range course. The second uses vision, IR beacon, and ultrasonic algorithms to park the robot next to a desired plastic pole randomly placed within an arena. >