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Proceedings Paper

Navigation control for mobile robot based on vision and ultrasonic sensors
Author(s): Satoru Takahashi; Shunsuke Nara
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Paper Abstract

This paper treats the navigation problem of a mobile robot based on vision information and ultrasonic data. In our method, by calculating the optical flow on the images, the mobile robot can detect obstacles which exist ahead of it, further avoiding the area of obstacles, it can make the optimal trajectory to the final goal. Then, in order to generate the optimal trajectory, the distance between a mobile robot and obstacle is needed and then is obtained by evaluating a function with ultrasonic information. Through some experiments, we show how our proposed method is effective.

Paper Details

Date Published: 8 October 2007
PDF: 8 pages
Proc. SPIE 6719, Optomechatronic Systems Control III, 67190I (8 October 2007); doi: 10.1117/12.754593
Show Author Affiliations
Satoru Takahashi, Kagawa Univ. (Japan)
Shunsuke Nara, Nara Electric Heavy Industries, Ltd. (Japan)

Published in SPIE Proceedings Vol. 6719:
Optomechatronic Systems Control III
Sergej Fatikow; Farrokh Janabi-Sharifi; Toshio Fukuda; Hyungsuck Cho; Heikki N. Koivo, Editor(s)

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