Development of Visual Navigation System for Patrol Service Robot

  • Kenichi Asami
  • Hayato Hagiwara
  • Mochimitsu Komori
Part of the Communications in Computer and Information Science book series (CCIS, volume 206)


The visual navigation system for a mobile patrol robot using image processing by FPGA and real-time device driver is presented. The CMOS image sensor and the stepper motor driver ICs are connected to external I/O ports of the FPGA. The image processing and motor drive circuits are implemented into the FPGA device together with state machine and FIFO memory buffer to adjust timing for pixel data transmission. The real-time device driver couples the flexible hardware circuits with software applications for the robot vision.


Autonomous Mobile Robot Patrol Service Robot Real-time Image Processing Visual Navigation System 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Kenichi Asami
    • 1
  • Hayato Hagiwara
    • 1
  • Mochimitsu Komori
    • 1
  1. 1.Department of Applied Science for Integrated System EngineeringKyushu Institute of TechnologyKitakyushuJapan

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