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Title: Non-metric navigation for mobile robot using optical flow
Authors: Liau, Y.S.
Zhang, Q. 
Li, Y.
Ge, S.S. 
Keywords: autonomous mobile robots
Non-metric navigation
optical flow
Issue Date: 2012
Source: Liau, Y.S.,Zhang, Q.,Li, Y.,Ge, S.S. (2012). Non-metric navigation for mobile robot using optical flow. IEEE International Conference on Intelligent Robots and Systems : 4953-4958. ScholarBank@NUS Repository.
Abstract: In this paper, we address the problem of non-metric navigation for mobile robot in indoor environment. With pure vision sensors, we tackle the most fundamental problem in autonomous mobile robot navigation - to achieve obstacle avoidance ability in mobile robot. We approach the problem by extracting time-to-contact information using optical flow and motion analysis. Our method is based on flow divergence which contains qualitative depth information of the environment. In addition, we presented a flexible robot heading decision making framework that is able to incorporate higher level navigation task on top of obstacle avoiding behaviour. A state-machine based control scheme is utilized for the coordination of the robot's action defined under a behaviour based design. Through virtual simulation and physical experiments, we demonstrated the effectiveness of our non-metric navigation strategy in unknown environment. © 2012 IEEE.
Source Title: IEEE International Conference on Intelligent Robots and Systems
ISBN: 9781467317375
ISSN: 21530858
DOI: 10.1109/IROS.2012.6386221
Appears in Collections:Staff Publications

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