Abstract
Autonomous navigation of mobile robot requires a ranging system for measurement of distance to environmental objects. It is obvious that the wider and the faster distance measurement gives a mobile robot more freedom in trajectory planning and control. The active omni-directional ranging system proposed in this paper is capable of obtaining the distance for all 3600 directions in real-time because of the omni-directional mirror and the structured light. Distance computation including the sensitivity analysis and the experiments on the omni-directional ranging are presented to verify the effectiveness of the proposed system.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 184-191 |
| Number of pages | 8 |
| Journal | International Journal of Control, Automation and Systems |
| Volume | 5 |
| Issue number | 2 |
| State | Published - Apr 2007 |
Keywords
- Active vision
- Mobile robot
- Omni-directional mirror
- Panoramic vision
- Structured light
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications