DOI QR코드

DOI QR Code

Localization for Mobile Robot Navigation using Color Patches Installed on the Ceiling

천정 부착 칼라 패치 배열을 이용한 이동로봇의 자기위치 인식

  • Published : 2008.02.01

Abstract

A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot's movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.

References

  1. B. Barshan and H. F. Durrant-Whyte, 'Inertial navigation systems for mobilerobots,' IEEE trans. Robot. Automat., vol. 11, pp. 328-342, June 1995 https://doi.org/10.1109/70.388775
  2. K.-T. Song and Y.-H. Suen, 'Design and mplementation of a path tracking controller with the capacity of obstacle avoidance,' proc. automatic control conference, Taipei, Taiwan, pp. 134-139, 1996
  3. J. H. Kim and P. H. Seong, 'Experiments on orientation recovery and steering of autonomous mobile robot using encoded magnetic compass disc,' IEEE trans. Instrum. Meas. vol. 45, no. 1, pp. 271-273, February 1996 https://doi.org/10.1109/19.481346
  4. M. Drumheller, 'Mobile robot location using sonar,' IEEE Trans. on Pattern Analysis and Machine Intelligence, vol. 9, no. 2, pp. 325-332, March 1987 https://doi.org/10.1109/TPAMI.1987.4767907
  5. J. J. Leonard and H. F. Durrant-Whyte, Directed Sonar Sensing for Mobile Robot Navigation, Kluwer Academic Publisher, BostonlLondonlDordrecht, 1992
  6. B. Triggs, 'Model-based sonar localization for mobile robots,' Robotics and Autonomous Systems, vol. 12, pp. 173-184, 1994 https://doi.org/10.1016/0921-8890(94)90024-8
  7. D. Maksarov and H. Durrant-Whyte, 'Mobile vehicle navigation in unknown environments: A multiple hypothesis approach,' IEE proc.-Contr. Appl. Theory, vol. 142, no. 4, pp. 385-400, 1995 https://doi.org/10.1049/ip-cta:19951872
  8. A. M. Sabatini, 'A digital signal processing techniques for compensating ultrasonic sensors,' ZEEE Trans. Instrum. Meas. vol. 44. no. 4, pp. 869-874, 1995 https://doi.org/10.1109/19.392873
  9. M. Piasecki, 'Mobile robot localization by fuzzy logic fusion of multisensor data,' Robotics and Autonomous Systems, vol. 12, pp. 155-162, 1994 https://doi.org/10.1016/0921-8890(94)90022-1
  10. J. A. Janet, R. Gutierrez, T. A. Chase, M. W. White, and J. C. Sutton, 'Autonomous mobile robot global self-localization using kohonen and region-feature neural networks,' Journal of Robotic Systems, vol. 14, no. 4, pp. 263-282, 1997 https://doi.org/10.1002/(SICI)1097-4563(199704)14:4<263::AID-ROB4>3.0.CO;2-O
  11. E. T. Baumgartner and S. B. Skaar, 'An autonomous visionbased mobile robot,' IEEE trans. Automat. Contr., vol. 39, no. 3, pp. 493-502, 1994 https://doi.org/10.1109/9.280748