E.A. Devyaterikov
Center of Education and Research «Robotics» Bauman Moscow State Technical University, Postgraduate Student, 7, Izmaylovskaya pl., Moscow, 105037, Russia, tel.: +7(499)165-17-01, This email address is being protected from spambots. You need JavaScript enabled to view it.
B.B. Mikhaylov
PhD in Technical Sciences, Center of Education and Research «Robotics» Bauman Moscow State Technical University, Assistant Professor, 7, Izmaylovskaya pl., Moscow, 105037, Russia, tel.: +7(499)165-17-01, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
In this paper the system of mobile robot automatic return with use of integrated data from visual odometer and other sensors for autonomous navigation and also the results of its experimental research are represented. Visual odometry is a position finding method using computer vision, based on measurments of key points' shift, information about which is obtained from image sequences analysis. Such system works in uprepared in advance environment without stationary supporting points, and is insensitive to the wheels skidding. Integration of data from visual odometer and other sensors for autonomous navigation with use of offered algorithm allows mutually compensate measurement errors under disadvantages.
Key words
Mobile robot, visual odometer, autonomous navigation, computer vision.
Year 2016 Issue number 2 Consecutive issue number 11 Pages 74-79
UDC identifier: 004.896:004.93'1:007.52
