Navigation of an Omnidirectional Mobile Robot by Teaching a Few Omnidirectional Images

Akihiro Matsumoto; Shoji Tsukuda; Gosuke Yoshita

doi:10.20965/jrm.2004.p0080

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JRM Vol.16 No.1 pp. 80-89

doi: 10.20965/jrm.2004.p0080

(2004)

Paper:

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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

Received:

December 25, 2003

Accepted:

January 15, 2004

Published:

February 20, 2004

Keywords:

mobile robot, navigation, teaching by showing, image processing

Abstract

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.

Cite this article as:

A. Matsumoto, S. Tsukuda, and G. Yoshita, “Navigation of an Omnidirectional Mobile Robot by Teaching a Few Omnidirectional Images,” J. Robot. Mechatron., Vol.16 No.1, pp. 80-89, 2004.

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References

[1] A. Matsumoto, T. Arai, “The State-of-the-Art of Robot Languages,” Journal of the Robotics Society of Japan , Vol. 11, No. 1, pp. 36-39, Jan. 1993. (in Japanese)
[2] Y. Matsumoto, M. Inaba, H. Inoue, “Route and Map Representation Based on Omni-View Sequence,” Journal of the Robotics Society of Japan, Vol. 20, No. 4, pp. 395-403, 2002. (in Japanese)
[3] K. Kidono, J. Miura, Y. Shirai, “Autonomous Visual Navigation of a Mobile robot Using a Human-Guided Experience,” Proc. Of the 6th Symp. On Intelligent Autonomous Systems, pp. 620-627, 2000.
[4] T. Lixin, S. Yuta, “Teaching and Play-back Navigation for Indoor Mobile Robots by Recording of Omni-directional Image Sequence and Robot’s Motion,” Journal of the Robotics Society of Japan, Vol. 21, No. 8, pp. 883-892, 2003. (in Japanese)
[5] H. Asama, M. Sato, L. Bogoni, H. Kaetsu, A. Matsumoto, and I. Endo, “Development of an Omni-Directional Mobile Robot with 3 DoF Decoupling Drive Mechanism,” Proc. Of IEEE Int. Conf. On Robotics and Automation, pp. 1062-1067, 1995.
[6] K. Yamazawa, Y. Yagi, M. Yachida, “Obstacle detection with omnidirectional image sensor HyperOmni Vision,” Proc. Of Int. Conf. On Robotics and Automation, pp. 1062-1067, 1995.
[7] A. Matsumoto, G. Yoshita, I. Kihana, “Teaching by showing Few Images for the Navigation of Mobile Robots,” Proc. of Int. Conf. on Assembly and Task Planning, pp. 270-275, Besancon, Jul. 2003.
[8] T. Matsui, H. Asoh, S. Thompson, “Mobile Robot Localization Using Circular Correlations of Panoramic Images,” Proc. Of IEEE Int. Conf. on Intelligent Robots and Systems, 2000.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] A. Matsumoto, T. Arai, “The State-of-the-Art of Robot Languages,” Journal of the Robotics Society of Japan , Vol. 11, No. 1, pp. 36-39, Jan. 1993. (in Japanese)

[2] [2] Y. Matsumoto, M. Inaba, H. Inoue, “Route and Map Representation Based on Omni-View Sequence,” Journal of the Robotics Society of Japan, Vol. 20, No. 4, pp. 395-403, 2002. (in Japanese)

[3] [3] K. Kidono, J. Miura, Y. Shirai, “Autonomous Visual Navigation of a Mobile robot Using a Human-Guided Experience,” Proc. Of the 6th Symp. On Intelligent Autonomous Systems, pp. 620-627, 2000.

[4] [4] T. Lixin, S. Yuta, “Teaching and Play-back Navigation for Indoor Mobile Robots by Recording of Omni-directional Image Sequence and Robot’s Motion,” Journal of the Robotics Society of Japan, Vol. 21, No. 8, pp. 883-892, 2003. (in Japanese)

[5] [5] H. Asama, M. Sato, L. Bogoni, H. Kaetsu, A. Matsumoto, and I. Endo, “Development of an Omni-Directional Mobile Robot with 3 DoF Decoupling Drive Mechanism,” Proc. Of IEEE Int. Conf. On Robotics and Automation, pp. 1062-1067, 1995.

[6] [6] K. Yamazawa, Y. Yagi, M. Yachida, “Obstacle detection with omnidirectional image sensor HyperOmni Vision,” Proc. Of Int. Conf. On Robotics and Automation, pp. 1062-1067, 1995.

[7] [7] A. Matsumoto, G. Yoshita, I. Kihana, “Teaching by showing Few Images for the Navigation of Mobile Robots,” Proc. of Int. Conf. on Assembly and Task Planning, pp. 270-275, Besancon, Jul. 2003.

[8] [8] T. Matsui, H. Asoh, S. Thompson, “Mobile Robot Localization Using Circular Correlations of Panoramic Images,” Proc. Of IEEE Int. Conf. on Intelligent Robots and Systems, 2000.

Navigation of an Omnidirectional Mobile Robot by Teaching a Few Omnidirectional Images

Akihiro Matsumoto*, Shoji Tsukuda*, and Gosuke Yoshita**

Akihiro Matsumoto^, Shoji Tsukuda^, and Gosuke Yoshita^**