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Vision-Based Autonomous Topological Navigation in Outdoor Environments

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2 Author(s)
Daniel Oliva Sales ; Mobile Robot. Lab., Univ. of Sao Paulo, Sao Carlos, Brazil ; Fernando Santos Osório

In this paper, we present a proposal of an autonomous topological navigation system for structured outdoor environments. This system uses a camera as the main sensor, and an association of Finite State Machines (FSM) with Artificial Neural Networks (ANN) for path features detection. The environment is represented by a Topological map in which each state is related to a specific track shape. This way, the robot can become able to autonomously reach any destination, going through a sequence of these states, as for example straight path, right and left turns and intersections. The experiments were performed in a real structured outdoor environment in order to validate and evaluate this approach. The proposed system demonstrated to be a promising approach for path features detection.

Published in:

Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian

Date of Conference:

16-19 Oct. 2012