Path planning for mobile robots using a video camera network

We describe a novel method to plan paths for mobile robots in an environment observed by a network of video cameras. The multiple video streams are fused to generate a spatial-temporal map of freespace. Updated at 5 Hz, this map concurrently locates both static and dynamic obstacles. Our novel metho...

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Bibliographic Details
Main Authors: Hoover, A., Olsen, B.D.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Computer networks
Computer vision
Mechanical sensors
Mobile robots
Path planning
Polynomials
Robot sensing systems
Robot vision systems
Robotics and automation
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Summary:We describe a novel method to plan paths for mobile robots in an environment observed by a network of video cameras. The multiple video streams are fused to generate a spatial-temporal map of freespace. Updated at 5 Hz, this map concurrently locates both static and dynamic obstacles. Our novel method computes a polynomial-shaped path from current position to goal position for each map update (at 5 Hz), thus accomplishing both path planning and dynamic obstacle avoidance simultaneously. We demonstrate our methods operating in several dynamic scenarios, and compare our methods against paths planned using a numeric potential field.
DOI:10.1109/AIM.1999.803290