A simple visual servoing and navigation algorithm for an omnidirectional robot

Afroza Begum, Minkyoung Lee, Young J. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations

Abstract

This paper presents a simple visual servoing and navigation algorithm for guiding a holonomic or omnidirectional robot. The algorithm facilitates a mobile robot equipped mainly with a webcam to autonomously navigate an unknown environment and explore the path from start configuration to goal configuration along some checkpoints while avoiding obstacles. We have adopted an off-the-shelf toy robot, WowWee™'s Rovio, as robotic platform for our experiments. The proposed algorithm infers information directly from the images that are related to the environment as the Robot faces while navigating and guides the robot to perform image-based navigation. Experimental results on an omnidirectional robot demonstrate that the robot can successfully navigates through building environment and finds the goal point within a reasonable amount of time.

Original languageEnglish
Title of host publication2010 3rd International Conference on Human-Centric Computing, HumanCom 2010
DOIs
StatePublished - 2010
Event2010 3rd International Conference on Human-Centric Computing, HumanCom 2010 - Cebu, Philippines
Duration: 11 Aug 201013 Aug 2010

Publication series

Name2010 3rd International Conference on Human-Centric Computing, HumanCom 2010

Conference

Conference2010 3rd International Conference on Human-Centric Computing, HumanCom 2010
Country/TerritoryPhilippines
CityCebu
Period11/08/1013/08/10

Keywords

  • Collision avoidance
  • Omnidirection robot
  • Robot navigation
  • Visual servoing

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