|
Abstract : |
Abstract. The path of a mobile robot in indoor environments can be described as a sequence of low level, so called reflexive navigation tasks. Such a task is collision avoidance; a behavior which enables the robot to follow a designated path in environments with large free space areas and to avoid obstacles simultaneously. Keeping up a continuous speed is sometimes more important than always having precise position knowledge. This behavior is not adequate in every situation though. Especially for difficult navigation tasks like passing a door or entering an elevator the robot has to drive closer to obstacles than permitted by collision avoidance safety requirements. Vision systems help to overcome the problem that range sensors do not find structures to correct the robot's position if the robot operates close to obstacles or if the environment is too cluttered. Using an active vision system the robot is able to chose any visible object of which the position is known and navigate relative to it. By way of contrast to approaches that use image sequences the method described performs a correction just using one pair of stereo images. Because of that the robot does not have to slow down significantly in order to perform a position correction., |
