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Proceedings Paper

Visual identification and similarity measures used for on-line motion planning of autonomous robots in unknown environments
Author(s): Fredy Martínez; Fernando Martínez; Edwar Jacinto
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Paper Abstract

In this paper we propose an on-line motion planning strategy for autonomous robots in dynamic and locally observable environments. In this approach, we first visually identify geometric shapes in the environment by filtering images. Then, an ART-2 network is used to establish the similarity between patterns. The proposed algorithm allows that a robot establish its relative location in the environment, and define its navigation path based on images of the environment and its similarity to reference images. This is an efficient and minimalist method that uses the similarity of landmark view patterns to navigate to the desired destination. Laboratory tests on real prototypes demonstrate the performance of the algorithm.

Paper Details

Date Published: 8 February 2017
PDF: 5 pages
Proc. SPIE 10225, Eighth International Conference on Graphic and Image Processing (ICGIP 2016), 102251M (8 February 2017); doi: 10.1117/12.2266997
Show Author Affiliations
Fredy Martínez, Univ. Distrital Francisco José de Caldas (Colombia)
Fernando Martínez, Univ. Distrital Francisco José de Caldas (Colombia)
Edwar Jacinto, Univ. Distrital Francisco José de Caldas (Colombia)


Published in SPIE Proceedings Vol. 10225:
Eighth International Conference on Graphic and Image Processing (ICGIP 2016)
Yulin Wang; Tuan D. Pham; Vit Vozenilek; David Zhang; Yi Xie, Editor(s)

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