Open Access<title>Integrating obstacle avoidance, global path planning, visual cue detection, and landmark triangulation in a mobile robot</title>
Author(s) -
David Kortenkamp,
Marcus J. Huber,
Clare Bates Congdon,
Scott B. Huffman,
Clint R. Bidlack,
Charles J. Cohen,
Frank V. Koss,
Ulrich Raschke,
Terry E. Weymouth
Publication year - 1993
Publication title -
proceedings of spie, the international society for optical engineering/proceedings of spie
Language(s) - English
Resource type - Conference proceedings
SCImago Journal Rank - 0.192
H-Index - 176
eISSN - 1996-756X
pISSN - 0277-786X
DOI - 10.1117/12.143819
Subject(s) - landmark , computer vision , obstacle avoidance , artificial intelligence , robot , mobile robot , computer science , task (project management) , motion planning , triangulation , obstacle , path (computing) , orientation (vector space) , position (finance) , object detection , engineering , geography , mathematics , pattern recognition (psychology) , cartography , business , programming language , geometry , systems engineering , archaeology , finance
This paper describes the design and implementation of an integrated system for combining obstacle avoidance, path planning, landmark detection and position triangulation. Such an integrated system allows the robot to move from place to place in an environment, avoiding obstacles and planning its way out of traps, while maintaining its position and orientation using distinctive landmarks. The task the robot performs is to search a 22 m X 22 m arena for 10 distinctive objects, visiting each object in turn. This same task was recently performed by a dozen different robots at a competition in which the robot described in this paper finished first.
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