Mobile robot navigation based on vision and DGPS information
Mobile robot navigation based on vision and DGPS information
复制标题
基于视觉和DGPS信息的移动机器人导航
DOI：
10.1109/robot.1998.680721
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
H. Mori
中科院分区：
文献类型：
--
作者：
S. Kotani;Ken'ichi Kaneko;T. Shinoda;H. Mori
本文介绍了一种用于户外环境下自主移动机器人的导航系统。机器人利用视觉检测地标和差分GPS （DGPS）信息来确定机器人的初始位置和方向。视觉系统通过参考环境模型来检测环境中的地标。在机器人运动过程中，通过传统的航位推算法估计其位置，并将地标与环境模型进行匹配，以减小机器人位置估计的误差。根据DGPS获取的第一和第二位置的坐标值计算机器人的初始位置和方向。随后的方向和位置由地图匹配得到。我们在移动机器人Harunobu-6上实现了该系统。在实际环境中的实验结果表明了所提出的导航方法的有效性。
This paper describes a navigation system for an autonomous mobile robot in outdoor environments. The robot uses vision to detect landmarks and differential GPS (DGPS) information to determine robot's initial position and orientation. The vision system detects landmarks in the environment by referring to an environment model. As the robot moves, it estimates its position by conventional dead-reckoning, and matches the landmarks with the environment model in order to reduce the error in the robot position estimate. The robot initial position and orientation are calculated from the coordinate values of the first and second locations which are acquired by DGPS. Subsequent orientations and positions are derived from map matching. We implemented the system on a mobile robot "Harunobu-6". Experimental results in real environments showed the effectiveness of our proposed navigation methods.