Navigation of an Omnidirectional Mobile Robot by Teaching a Few Omnidirectional Images
Akihiro Matsumoto*, Shoji Tsukuda*, and Gosuke Yoshita**
*Toyo University, 2100 Kujirai, Kawagoe, Saitama 350-8585, Japan
**Yasakawa Information Systems Corporation, 5-15 Higashiohji, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0037, Japan
We used an omnidirectional vision for navigating an omnidirectional mobile robot. We examined teaching algorithms by showing a few images for mobile robot navigation, and verified its feasibility through experiments. To improve positioning accuracy, we designed and tested a positional error compensation algorithm that fits omnidirectional images.
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