Planning of vision-based navigation for a mobile robot under uncertainty
نویسندگان
چکیده
This paper deals with planning of visual navigation strategies for a mobile robot under uncertainty of both visual data and dead reckoning data. When a robot passes through a narrow space, it has to move slowly while carefully observing surrounding objects and estimating the distances to the objects precisely. On the other hand, the robot can move fast in a widely open space. A novel method is proposed which can adaptively determine the speed of the robot and the visual landmarks, thereby realizing an e cient navigation of the robot. Experimental results show the feasibility of the method.
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تاریخ انتشار 1997