Mobile robot navigation in dynamic environments using onmidirectional stereo
نویسندگان
چکیده
This paper describes a mobile robot navigation method in dynamic environments. The method uses a real-time omnidirectional stereo which can obtainpanoramic range information of 360 degrees. From this panoramic range information, the robotfirst estimates its ego-motion b.v comparing the current and the previous observations in order to integrate observations obtained at different positions. The uncertainty in the estimation is also calculated. Next, the robot recognizes and tracks moving obstacles. Finally, the robot plans a collision free path by a heuristic planner in space-time considering the velocify uncertainty of observed obstacles. Experimental results show the effectiveness of our method
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