Publication detail

Robot path planning under line of sight constraints

FLORIÁN, T. ŽALUD, L. BARÁNEK, R. SCHIOLER, H.

Original Title

Robot path planning under line of sight constraints

Czech Title

Plánování dráhy robotu s omezením přímé viditelnosti

English Title

Robot path planning under line of sight constraints

Type

conference paper

Language

en

Original Abstract

In this Paper, a path planning trajectory algorithm for differential steered mobile robots in an unknown indoor environment is proposed. This algorithm uses only data from a cheap camera and calculates the position and rotation of the known pattern (beacon) in the image from camera. The beacon can be easily attached on the walls in any position. The proposed method has also been simulated and successfully tested in Matlab.

Czech abstract

Článek představuje algoritmus pro plánování trajektorie diferenciálně řízeného robotu v neznámém prostředí. Algoritmus využívá dat z levné kamery a robot vypočítává svoji pozici a rotaci vůči známému obrazci, který je identifikován na obraze z kamery. Tento obrazec může být jendoduše přichycen na stěně místnosti. Navržené metoda byla nasimulována a odzkoušena v prostředí Matlab.

English abstract

In this Paper, a path planning trajectory algorithm for differential steered mobile robots in an unknown indoor environment is proposed. This algorithm uses only data from a cheap camera and calculates the position and rotation of the known pattern (beacon) in the image from camera. The beacon can be easily attached on the walls in any position. The proposed method has also been simulated and successfully tested in Matlab.

Keywords

beacon, QR code, AR tag, path planning, differential steered robot

RIV year

2013

Released

26.06.2013

Publisher

Nosová Hana, Koperníkova 4362/21, Brno

Location

Brno, CZ

ISBN

978-80-214-4755-4

Book

MENDEL 2013, 19th International Conference on Soft Computing

Edition

1

Edition number

1

Pages from

307

Pages to

310

Pages count

4

BibTex


@inproceedings{BUT100553,
  author="Tomáš {Florián} and Luděk {Žalud} and Radek {Baránek} and Henrik {Schiøler}",
  title="Robot path planning under line of sight constraints",
  annote="In this Paper, a path planning trajectory algorithm for differential steered mobile robots in an unknown indoor environment is proposed. This algorithm uses only data from a cheap camera and calculates the position and rotation of the known pattern (beacon) in the image from camera. The beacon can be easily attached on the walls in any position. The proposed method has also been simulated and successfully tested in Matlab.",
  address="Nosová Hana, Koperníkova 4362/21, Brno",
  booktitle="MENDEL 2013, 19th International Conference on Soft Computing",
  chapter="100553",
  edition="1",
  howpublished="print",
  institution="Nosová Hana, Koperníkova 4362/21, Brno",
  year="2013",
  month="june",
  pages="307--310",
  publisher="Nosová Hana, Koperníkova 4362/21, Brno",
  type="conference paper"
}