A Goal Oriented Navigation System Using Vision

This paper addresses a goal oriented navigation framework in a behavior-based manner for autonomous systems. The framework is mainly designed based on a behavioral architecture and relies on a monocular vision camera to obtain the location of goal. The framework employs a virt ual physic based method to steer the robot towards the goal while avoiding unknown obstacles, located along its path. Simulation results validate the performance of the proposed framework.

[1]  Takashi Uchiyama,et al.  Design and implementation of high-speed visual tracking system for real-time motion analysis , 1996, Proceedings of 13th International Conference on Pattern Recognition.

[2]  Sumetee kesorn.  Visual Navigation for Mobile Robots: a Survey , 2012 .

[3]  Mehmet Serdar Guzel,et al.  New Technique for distance estimation using SIFT for mobile robots , 2014, 2014 International Electrical Engineering Congress (iEECON).

[4]  Illah R. Nourbakhsh,et al.  Appearance-Based Obstacle Detection with Monocular Color Vision , 2000, AAAI/IAAI.

[5]  Rodney A. Brooks,et al.  Cambrian Intelligence: The Early History of the New AI , 1999 .

[6]  Avinash C. Kak,et al.  Vision for Mobile Robot Navigation: A Survey , 2002, IEEE Trans. Pattern Anal. Mach. Intell..

[7]  Álvaro Enrique Arenas,et al.  Position verification of a mobile robot using standard pattern , 1987, IEEE Journal on Robotics and Automation.

[8]  M. S. Güzel,et al.  Autonomous Vehicle Navigation Using Vision and Mapless Strategies: A Survey , 2013 .

[9]  Masayoshi Hashima,et al.  Localization and obstacle detection for robots for carrying food trays , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[10]  Matthew Szenher,et al.  Visual Homing in Dynamic Indoor Environments , 2008 .

[11]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[12]  R. C. Harrell,et al.  A fruit-tracking system for robotic harvesting , 2005, Machine Vision and Applications.

[13]  Robert Bicker,et al.  Optical flow based system design for mobile robots , 2010, 2010 IEEE Conference on Robotics, Automation and Mechatronics.

[14]  Ronald C. Arkin,et al.  An Behavior-based Robotics , 1998 .