Camera-based monitoring system for mobile robot guidance
Camera-based monitoring system for mobile robot guidance
复制标题
基于摄像头的移动机器人引导监控系统
DOI：
10.1109/iros.1998.727470
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
F. Wahl
中科院分区：
文献类型：
--
作者：
E. Kruse;F. Wahl
机器人对其环境了解得越多，它的运行效率就越高。这就是本文提出的系统的基本思想。通过采用基于外部摄像头的传感系统，机器人环境的全局模型得到维护和不断更新。因此，可以有效地完成动态环境（即包含移动障碍物的环境）中的运动规划和碰撞避免。对于许多室内应用来说，与完全自主行动的移动机器人相比，这一概念本质上是优越的。本文介绍了实验系统的概念和组件： 传感是通过 CCD 相机完成的；处理后的数据提供给有关机器人定位、障碍物检测和运动规划的不同模块。
The more the robot knows about its environment, the more efficiently it can operate. This is the basic idea of the system presented in this paper. By employing an external camera-based sensing system, a global model of the robot's environment is maintained and updated continuously. Thus, motion planning and collision avoidance in a dynamic environment (i.e. an environment which contains moving obstacles) can be done efficiently. For many indoor applications this concept is inherently superior compared to mobile robots which act completely autonomously. The paper presents concepts and components of an experimental system: Sensing is done with CCD cameras; the processed data is furnished to different modules regarding robot localization, obstacle detection and motion planning.