Mobile robot visual homing by vector pre-assigned mechanism

• Autorzy: Ji X. , Zhu Q. , Wang J. , Cai C. , Ma J.

Identyfikatory

DOI

10.24425/bpas.2019.128114

• Języki publikacji: EN

Abstrakty

EN

In this paper, we present an optimization mechanism for two popular landmark-based mobile robot visual homing algorithms (ALV and HiSS), called vector pre-assigned mechanism (VPM). VPM contains two branches, both of which can promote the homing performance effectively. In addition, to make the landmark distribution satisfy the equal distance assumption, a landmark optimization strategy is proposed based on imaging principle of the panoramic vision. Experiments on both panoramic image database and a real mobile robot have confirmed the effectiveness of the proposed methods.

Słowa kluczowe

EN

robot navigation; visual homing; panoramic vision; ALV; HiSS

PL

nawigacja robotów; ALV; HiSS

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2019
• Tom: Vol. 67, nr 2
• Strony: 213--227
• Opis fizyczny: Bibliogr. 28 poz., rys., tab., wykr.

Twórcy

autor

Ji X.

• College of Automation, Harbin Engineering University, 150001, China

autor

Zhu Q.

• College of Automation, Harbin Engineering University, 150001, China

autor

Wang J.

• College of Automation, Harbin Engineering University, 150001, China

autor

Cai C.

• College of Automation, Harbin Engineering University, 150001, China

autor

Ma J.

• College of Automation, Harbin Engineering University, 150001, China

Bibliografia

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Uwagi

EN

This work is partially supported by the National Natural Science Foundation of China (61673129, 51674109)

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).