Active navigation with a monocular robot |
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Authors: | P. J. Sobey |
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Affiliation: | (1) Centre for Visual Science, Research School of Biological Sciences, Australian National University, GPO Box 475, Canberra 2601, Australia, AU |
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Abstract: | A scheme is presented that uses the self-motion of a robot, equipped with a single visual sensor, to navigate in a safe manner. The motion strategy used is modelled on the motion of insects that effectively have a single eye and must move in order to determine range. The essence of the strategy is to employ a zigzag motion in order to (a) estimate the range to objects and (b) know the safe distance of travel in the present direction. An example is presented of a laboratory robot moving in a cluttered environment. The results show that this motion strategy can be successfully employed in an autonomous robot to avoid collisions. Received: 17 August 1993/Accepted: 2 May 1994 |
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