Route representation for mobile robot navigation by omnidirectional route panorama Fourier transformation
Route representation for mobile robot navigation by omnidirectional route panorama Fourier transformation
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全向路径全景傅立叶变换的移动机器人导航路径表示
DOI：
10.1109/robot.1998.677273
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
M. Yachida
中科院分区：
文献类型：
--
作者：
Yasushi Yagi;Syuji Fujimura;M. Yachida
这里描述的是用于具有全方位图像传感器的移动的机器人的路线导航方法。当机器人移动到目标位置时，通过一系列连续的水平方向全方位图像的二维傅立叶功率谱来记忆路径。当机器人导航到目标点时，通过比较其当前位置的惯性主轴与存储的傅立叶功率谱的惯性主轴来控制机器人。
Described here is a route navigation method for a mobile robot with an omnidirectional image sensor. The route is memorized by a series of two dimensional Fourier power spectra of consecutive omnidirectional images at the horizon while the robot moves to the goal position. While the robot is navigating to the goal point, it is controlled by comparing the principal axis of inertia of its current position with that of the memorized Fourier power spectrum.