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Multi-waypoint visual homing in piecewise linear trajectory

Published online by Cambridge University Press:  16 August 2012

Yu Fu ,
Tien-Ruey Hsiang  and
Sheng-Luen Chung
Yu Fu
Affiliation:
National Taiwan University of Science and Technology, Electrical Engineering, Taiwan
Tien-Ruey Hsiang*
Affiliation:
Department of Computer Science and Information Engineering, National Taiwan University of Science and Technology, Taiwan
Sheng-Luen Chung
Affiliation:
National Taiwan University of Science and Technology, Electrical Engineering, Taiwan
*
*Corresponding author. E-mail: trhsiang@mail.ntust.edu.tw
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Summary

This paper proposes an image sequence-based navigation method under the teaching-replay framework for robots in piecewise linear routes. Waypoints used by the robot contain either the positions with large heading changes or selected midway positions between junctions. The robot applies local visual homing to move between consecutive waypoints. The arrival at a waypoint is determined by minimizing the average vertical displacements of feature correspondences. The performance of the proposed approach is supported by extensive experiments in hallway and office environments. While the homing speed of robots using other approaches is constrained by the speed in the teaching phase, our robot is not bounded by such limit and can travel much faster without compromising the homing accuracy.

Keywords

Multi-waypoint visual homingPiecewise linear route
Type
Articles
Information
Robotica , Volume 31 , Issue 3 , May 2013 , pp. 479 - 491
Copyright
Copyright © Cambridge University Press 2012

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