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Pattern tracking and visual servoing for indoor mobile environment mapping and autonomous navigation

Abstract : In this paper, an image-based framework for avigation of a mobile robot in an indoor environment is presented. The only sensor used is an embedded monocular vision system. The environment is autonomously mapped during a learning stage in order to locate the robot on-line. A suitable control law is designed to drive the robot in an image database. To address this issue, a Virtual nonHolonomic Vehicle (VNHV) attached to the image plane is defined.
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https://hal.archives-ouvertes.fr/hal-00095268
Contributor : Omar Ait-Aider <>
Submitted on : Friday, September 15, 2006 - 2:15:04 PM
Last modification on : Friday, October 19, 2018 - 10:28:01 AM

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  • HAL Id : hal-00095268, version 1

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Omar Ait Aider. Pattern tracking and visual servoing for indoor mobile environment mapping and autonomous navigation. 2006, pp.1. ⟨hal-00095268⟩

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