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Fast Mobile Robot Guidance

  • Antonio B. Martínez
  • Albert Larré
Part of the NATO ASI Series book series (volume 63)

Abstract

Prior knowledge of the environment constitutes an important help in planning trajectories and avoiding collisions. But sometimes modifications of the workroom due to appearance of possible obstacles are the main drawbacks for getting a high speed of navigation.

The use of multiple sensors provides complementary information that can help to avoid collision.

In order to assure the maintenance of adequate speed of the mobile without producing excessive speed reductions it is nessary to interpret the information acquired from the sensors and focus on the more interesting characteristics of the scene.

The goal of this work is not to develop a navigation system but develop image processors which help us to get the most adequate information needed to carry on the guidance of these mobiles with a response time as low as possible.

The system presented has the function of facilitating the task of fusion of the information obtained from TV cameras and ultrasonic sensors. The facilities provided by the system are oriented to reducing the processing time so that the mobile robot navigation speed is not reduced.

Keywords

Mobile Robot Tracking Module Ultrasonic Sensor Auxiliary Power Unit Robot Guidance 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. (1).
    Amat, J., Casais A: Visual inspection system with qualitative analysis capabilities. NATO ASI Series F, vol.52, Springer-Verlag, Berlin-Heidelberg-New York, 1989Google Scholar
  2. (2).
    Amat, J., Llario, V: A vision system with 3D capabilities. IEEE Int. Conference on Robotics and Automation. March 1985, St. Louis, USAGoogle Scholar
  3. (3).
    Bird Bhanu and Durga Panda: Qualitative reasoning and modeling for robust target tracking and recognition from a mobile platform. Image Understanding Workshop, 1988. Honeywell System & Research CenterGoogle Scholar
  4. (4).
    Blackboard Workshop Carnegie-Mellon University June 1986Google Scholar

Bibliography

  1. - Goto, Y., Stentz, A.: Mobile robot navigation: the CMU system. IEEE Expert (1987)Google Scholar
  2. - Thorpe, C. et al.: Vision and navigation for Carnegie-Mellon NAVLAB. IEEE Transaction on Pattern Analysis and Machine Intelligence, May 1988Google Scholar
  3. - Poggio, T. et al.: The MIT vision machine. Image Understanding Workshop, 1988 Honeywell System & Research CenterGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • Antonio B. Martínez
    • 1
  • Albert Larré
    • 1
  1. 1.Dept. d’Enginyeria de Sistemes, Automàtica i Informàtica IndustrialUniversitat Politècnica de CatalunyaBarcelonaSpain

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