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Autonomous mobile robot system concept based On PSO path planner and vSLAM

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3 Author(s)
Mohamed, A.Z. ; Dept. of Adv. Manuf. & Mech. Eng., Univ. of South Australia, Adelaide, SA, Australia ; Sang Heon Lee ; Hung Yao Hsu

The idea of placing small mobile robots to move around in a large building for potential intruders detection has been aroused for some time. However it is still facing two major hurdles: not to lose its ground truth and to make a decision on how to move around safely and effectively within reasonable computation cost. This paper describes a mathematical model for a development of a scheme for an autonomous low cost mobile robot system using visual SLAM (simultaneous localisation and mapping) and Particle Swarm Intelligent path planner. The result showed that this system could provide a solution for the problem in indoor mobile robot navigation. The advancements of the computer technology make this technique as a cost effective solution for a future home service robot.

Published in:

Computer Science and Automation Engineering (CSAE), 2011 IEEE International Conference on  (Volume:4 )

Date of Conference:

10-12 June 2011