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Implementation of Path Finding Method using 3D Mapping for Autonomous Robotic

3차원 공간 맵핑을 통한 로봇의 경로 구현

  • 손은호 (전북대학교 제어계측공학과) ;
  • 김영철 (군산대학교 기계공학부) ;
  • 정길도 (전북대학교 전자정보공학부)
  • Published : 2008.02.01

Abstract

Path finding is a key element in the navigation of a mobile robot. To find a path, robot should know their position exactly, since the position error exposes a robot to many dangerous conditions. It could make a robot move to a wrong direction so that it may have damage by collision by the surrounding obstacles. We propose a method obtaining an accurate robot position. The localization of a mobile robot in its working environment performs by using a vision system and Virtual Reality Modeling Language(VRML). The robot identifies landmarks located in the environment. An image processing and neural network pattern matching techniques have been applied to find location of the robot. After the self-positioning procedure, the 2-D scene of the vision is overlaid onto a VRML scene. This paper describes how to realize the self-positioning, and shows the overlay between the 2-D and VRML scenes. The suggested method defines a robot's path successfully. An experiment using the suggested algorithm apply to a mobile robot has been performed and the result shows a good path tracking.

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