Autonomous navigation for mobile robots referring pre-recorded image sequence

The purpose of this study is to realize autonomous navigation of a mobile robot with reference pre-recorded images, without any environment maps. The strategy of navigation in this research is that the differences of position and orientation of robot between the reference one and the present one are continuously estimated from true images, and are used in the locomotion control commands. In this paper, we use only vertical lines in the image as extracted features, and propose the method to calculate the estimated differences of position and orientation from two images. We also show some results of simulations and experiments using an actual mobile robot, and examine its reliability.