Authors: Wen-Chung Chang; Chia-Hung Wu
Addresses: Department of Electrical Engineering (DEE2125), National Taipei University of Technology, Taipei 106, Taiwan ' Department of Electrical Engineering (DEE2125), National Taipei University of Technology, Taipei 106, Taiwan
Abstract: Recent research study on obstacle detection and path planning in unknown environments has been identified as a key issue in the development of autonomous mobile robotic systems. This paper presents a path planning and control strategy for blind robots in indoor environments. In particular, a systematic approach is employed to convert 3D and 2D navigation maps from a 3D sparse map established by a scout robot equipped with onboard vision using a VSLAM (visual simultaneous localisation and mapping) algorithm. Based on the navigation map, desired trajectory can be planned for a blind robot to reach the target. An effective image-based control law is proposed to drive the blind robot to follow the planned trajectory with real-time monocular camera vision. The proposed navigation and control system has been validated by simulations and experiments with a blind robot using a 3D sparse map and real-time vision from surveillance cameras.
Keywords: mobile robots; navigation maps; surveillance vision; trajectory planning; visual servoing; robot navigation; robot control; surveillance cameras; obstacle detection; path planning; unknown environments; autonomous robots; indoor environments; obstacle avoidance; robot localisation; simulation.
International Journal of Advanced Mechatronic Systems, 2016 Vol.7 No.1, pp.1 - 12
Received: 20 Jan 2015
Accepted: 21 Oct 2015
Published online: 04 Oct 2016 *