Omnidirectional behavior control robot acquired surrounding environment information

We propose a multiple omnidirectional vision system (MOVIS) with three omnidirectional cameras and its calculation method for the measurement of the object position and the self-localization in an autonomous mobile robot. On the identification of the self-position, we try to improve the accuracy of...

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Bibliographic Details
Main Authors: Maeda, Y., Shimizuhira, W.
Format: Conference Proceeding
Language:English
Subjects:
Behavior Control
Cameras
Coordinate measuring machines
Fuzzy Reasoning
Machine vision
Measurement errors
Mobile Robot
Mobile robots
Motion control
Omnidirectional Vision System
Position measurement
RoboCup
Robot control
Robot kinematics
Robot vision systems
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Summary:We propose a multiple omnidirectional vision system (MOVIS) with three omnidirectional cameras and its calculation method for the measurement of the object position and the self-localization in an autonomous mobile robot. On the identification of the self-position, we try to improve the accuracy of the measurement by correcting the absolute position based on the measurement error of landmarks in the origin of the absolute coordinate. Furthermore, we propose the omnidirectional behavior control method for collision avoidance and object chasing motion by using fuzzy reasoning in an autonomous mobile robot with MOVIS. In this paper, we also report some experimental results to confirm the efficiency of the proposed method by using a soccer robot in dynamic environment.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2005.1571693