Vision based navigation system for autonomous mobile robot (Locomotive experiments based on variable template matching)

被引：0

作者：

Abe, Y

Fukuda, T

Shikano, M

Arai, F

Tanaka, Y

机构：

[1] Shinryo Corp, Ctr Res & Dev, Tsukuba, Ibaraki 3004247, Japan

[2] Nagoya Univ, Ctr Cooperat Res Adv Sci & Technol, Chikusa Ku, Nagoya, Aichi 4648603, Japan

[3] Nagoya Univ, Dept Micro Syst Engn, Chikusa Ku, Nagoya, Aichi 4648603, Japan

来源：

JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING | 2000年 / 43卷 / 02期

关键词：

moving robot; positioning; intelligent equipment; navigation system; template matching; fuzzy; evolution strategy;

D O I：

10.1299/jsmec.43.408

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

We have previously developed a navigation system for autonomous mobile robots. It can find landmarks on the ceiling to move and work. However it is impossible to recognize landmark in case that the size of landmark is different from the size of template. In such cases, the robot cannot continue to work. Therefor we proposed Variable Template Matching (VTM) which makes it possible to recognize landmarks of different sizes. We realize VTM by using the optimization method that is called Evolution Strategy (ES). The robot can recognize the landmark faster by binary density projection to infer landmark parameters. Minus Fuzzy Template is useful for the robot to avoid misidentifying.

引用

页码：408 / 414

页数：7

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