An optical flow-based sensing system for reactive mobile robot navigation

Detalhes bibliográficos
Autor(a) principal: Caldeira,Eliete Maria de Oliveira
Data de Publicação: 2007
Outros Autores: Schneebeli,Hans Jörg Andreas, Sarcinelli-Filho,Mário
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Sba: Controle & Automação Sociedade Brasileira de Automatica
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592007000300001
Resumo: This work discusses the use of optical flow to generate the sensorial information a mobile robot needs to react to the presence of obstacles when navigating in a non-structured environment. A sensing system based on optical flow and time-to-collision calculation is here proposed and experimented, which accomplishes two important paradigms. The first one is that all computations are performed onboard the robot, in spite of the limited computational capability available. The second one is that the algorithms for optical flow and time-to-collision calculations are fast enough to give the mobile robot the capability of reacting to any environmental change in real-time. Results of real experiments in which the sensing system here proposed is used as the only source of sensorial data to guide a mobile robot to avoid obstacles while wandering around are presented, and the analysis of such results allows validating the proposed sensing system.
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spelling An optical flow-based sensing system for reactive mobile robot navigationOptical flowMobile robotsAutonomous vehiclesObstacle avoidanceMobile robot navigationComputer visionThis work discusses the use of optical flow to generate the sensorial information a mobile robot needs to react to the presence of obstacles when navigating in a non-structured environment. A sensing system based on optical flow and time-to-collision calculation is here proposed and experimented, which accomplishes two important paradigms. The first one is that all computations are performed onboard the robot, in spite of the limited computational capability available. The second one is that the algorithms for optical flow and time-to-collision calculations are fast enough to give the mobile robot the capability of reacting to any environmental change in real-time. Results of real experiments in which the sensing system here proposed is used as the only source of sensorial data to guide a mobile robot to avoid obstacles while wandering around are presented, and the analysis of such results allows validating the proposed sensing system.Sociedade Brasileira de Automática2007-09-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592007000300001Sba: Controle & Automação Sociedade Brasileira de Automatica v.18 n.3 2007reponame:Sba: Controle & Automação Sociedade Brasileira de Automaticainstname:Sociedade Brasileira de Automática (SBA)instacron:SBA10.1590/S0103-17592007000300001info:eu-repo/semantics/openAccessCaldeira,Eliete Maria de OliveiraSchneebeli,Hans Jörg AndreasSarcinelli-Filho,Márioeng2008-01-24T00:00:00Zoai:scielo:S0103-17592007000300001Revistahttps://www.sba.org.br/revista/PUBhttps://old.scielo.br/oai/scielo-oai.php||revista_sba@fee.unicamp.br1807-03450103-1759opendoar:2008-01-24T00:00Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)false
dc.title.none.fl_str_mv An optical flow-based sensing system for reactive mobile robot navigation
title An optical flow-based sensing system for reactive mobile robot navigation
spellingShingle An optical flow-based sensing system for reactive mobile robot navigation
Caldeira,Eliete Maria de Oliveira
Optical flow
Mobile robots
Autonomous vehicles
Obstacle avoidance
Mobile robot navigation
Computer vision
title_short An optical flow-based sensing system for reactive mobile robot navigation
title_full An optical flow-based sensing system for reactive mobile robot navigation
title_fullStr An optical flow-based sensing system for reactive mobile robot navigation
title_full_unstemmed An optical flow-based sensing system for reactive mobile robot navigation
title_sort An optical flow-based sensing system for reactive mobile robot navigation
author Caldeira,Eliete Maria de Oliveira
author_facet Caldeira,Eliete Maria de Oliveira
Schneebeli,Hans Jörg Andreas
Sarcinelli-Filho,Mário
author_role author
author2 Schneebeli,Hans Jörg Andreas
Sarcinelli-Filho,Mário
author2_role author
author
dc.contributor.author.fl_str_mv Caldeira,Eliete Maria de Oliveira
Schneebeli,Hans Jörg Andreas
Sarcinelli-Filho,Mário
dc.subject.por.fl_str_mv Optical flow
Mobile robots
Autonomous vehicles
Obstacle avoidance
Mobile robot navigation
Computer vision
topic Optical flow
Mobile robots
Autonomous vehicles
Obstacle avoidance
Mobile robot navigation
Computer vision
description This work discusses the use of optical flow to generate the sensorial information a mobile robot needs to react to the presence of obstacles when navigating in a non-structured environment. A sensing system based on optical flow and time-to-collision calculation is here proposed and experimented, which accomplishes two important paradigms. The first one is that all computations are performed onboard the robot, in spite of the limited computational capability available. The second one is that the algorithms for optical flow and time-to-collision calculations are fast enough to give the mobile robot the capability of reacting to any environmental change in real-time. Results of real experiments in which the sensing system here proposed is used as the only source of sensorial data to guide a mobile robot to avoid obstacles while wandering around are presented, and the analysis of such results allows validating the proposed sensing system.
publishDate 2007
dc.date.none.fl_str_mv 2007-09-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592007000300001
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592007000300001
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S0103-17592007000300001
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Sociedade Brasileira de Automática
publisher.none.fl_str_mv Sociedade Brasileira de Automática
dc.source.none.fl_str_mv Sba: Controle & Automação Sociedade Brasileira de Automatica v.18 n.3 2007
reponame:Sba: Controle & Automação Sociedade Brasileira de Automatica
instname:Sociedade Brasileira de Automática (SBA)
instacron:SBA
instname_str Sociedade Brasileira de Automática (SBA)
instacron_str SBA
institution SBA
reponame_str Sba: Controle & Automação Sociedade Brasileira de Automatica
collection Sba: Controle & Automação Sociedade Brasileira de Automatica
repository.name.fl_str_mv Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)
repository.mail.fl_str_mv ||revista_sba@fee.unicamp.br
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