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Vision-Based Collision Avoidance for Service Robot

  • Mateus MendesEmail author
  • A. Paulo Coimbra
  • Manuel M. Crisóstomo
  • Manuel Cruz
Conference paper

Abstract

ASSIS is a service robot which uses a camera, sonars and infra-red sensors for navigation. It uses images stored into a Sparse Distributed Memory, implemented in parallel in a Graphics Processing Unit, as a method for robot localization and navigation. It is controlled from a web-based interface. Algorithms for following previously learnt paths using visual and odometric information are described. A stack-based method for avoiding random obstacles, using visual information, is proposed. The results show the algorithms are adequate for indoors robot localization and navigation.

Keywords

Autonomous navigation Obstacle avoidance SDM Service robot Vision-based navigation Vision-based localization 

Notes

Acknowledgements

The authors acknowledge Fundacão para a Ciência e a Tecnologia (FCT) and COMPETE 2020 program for the financial support to the project UID-EEA-00048-2013.

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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Mateus Mendes
    • 1
    Email author
  • A. Paulo Coimbra
    • 2
  • Manuel M. Crisóstomo
    • 2
  • Manuel Cruz
    • 2
  1. 1.Polytechnic Institute of Coimbra - ESTGOH and Institute of Systems and RoboticsCoimbraPortugal
  2. 2.Institute of Systems and RoboticsUniversity of CoimbraCoimbraPortugal

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