Sensor based terrain guidance of distributed cooperative mobilerobots
Aderogba, S.; Shirkhodaie, A.
Southeastcon 2000. Proceedings of the IEEE
Volume , Issue , 2000 Page(s):217 - 222
Digital Object Identifier 10.1109/SECON.2000.845567
Summary:Navigation in outdoor terrain is difficult due to lack of easily
and uniquely identifiable landmarks. This problem is further complicated
for a system with multiple robots navigating a common terrain. The paper
describes a field-capable system for navigation, obstacle avoidance,
simulated visual training of mobile robots, group world perception
modeling using visual feedback from multiple robots, and fusion of sonar
range data with vision information for the purpose of terrain learning.
A neural network approach is proposed for fusion of the robots visual
feedback. In this approach, each mobile robot is presumed to be equipped
with one camera and sonar sensor. In the proposed technique,
self-localization of the robots and localization of obstacles are
performed based on the visual and sonar feedback from the neural
network. Computer simulation of the technique is done with FMCell
simulation software an interactive graphical simulation environment.
Results of simulation runs illustrating the capabilities of this
technique are provided. The technique provides a better and simplified
approach for visual servoing of a multi-agent system
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