سال انتشار: ۱۳۹۱

محل انتشار: بیستمین کنفرانس مهندسی برق ایران

تعداد صفحات: ۶

نویسنده(ها):

H. Soltani – K.N. Toosi University of Technology
H. D. Taghirad –
A.R Norouzzadeh Ravari –

چکیده:

In this paper a stereo vision-based algorithm for mobile robots navigation and exploration in unknown outdoor environments is proposed. The algorithm is solely based on stereo images and implemented on a nonholonomic mobile robot. The first step for exploration in unknown environments isconstruction of the map of circumference in real-time. By getting disparity image from rectified stereo images and translating its data to 3D-space, point cloud model ofenvironments is constructed. Then by projecting points to XZ plane and put local maps together based on visual odometry,global map of environment is constructed in real-time. A* algorithm is used for investigating optimal path and nonlinear back-stepping controller guides the robot to follow theidentified path. Finally, the mobile robot explores for a desired object in an unknown environment through these steps. Experimental results verify the effectiveness of the proposed algorithm in real-time implementations