Ring Array of Structured Light Image Based Ranging Sensor and Autonomous Navigation for Mobile Robot

In the paper, we proposed a ring type structured light image based embedded ranging sensor for a mobile robot. Since the proposed ranging sensor obtains omnidirectional object distance, it is useful for autonomous navigation of a mobile robot. By matching the local omnidirectional distance map with a given global object map, it is possible to get position and heading angle of mobile robot in the global coordinates. Experiments for matching and navigation were carried out to verify the performance of the proposed ranging sensor.

[1]  Stephen Cameron,et al.  Advanced Guided Vehicles: Aspects of the Oxford Agv Project , 1994 .

[2]  Liqiang Feng,et al.  Gyrodometry: a new method for combining data from gyros and odometry in mobile robots , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[3]  Shree K. Nayar,et al.  Catadioptric omnidirectional camera , 1997, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[4]  Rangachar Kasturi,et al.  Machine vision , 1995 .

[5]  Ingemar J. Cox,et al.  On The Congruence Of Noisy Images To Line Segment Models , 1988, [1988 Proceedings] Second International Conference on Computer Vision.

[6]  Youngjin Hong,et al.  Distance Measurement Based on Structured Light Image for Mobile Robots , 2010 .

[8]  Soo-Yeong Yi,et al.  Real-time omni-directional distance measurement with active panoramic vision , 2007 .

[9]  Ingemar J. Cox,et al.  Blanche-an experiment in guidance and navigation of an autonomous robot vehicle , 1991, IEEE Trans. Robotics Autom..