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Tham khảo tài liệu 'advances in robot navigation part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 2 Vision-only Motion Controller for Omni-directional Mobile Robot Navigation Fairul Azni Jafar1 Yuki Tateno1 Toshitaka Tabata1 Kazutaka Yokota1 and Yasunori Suzuki2 1Graduate School of Engineering Utsunomiya University 2Toyota Motor Corporation Japan 1. Introduction A major challenge to the widespread deployment of mobile robots is the ability to function autonomously learning useful models of environmental features recognizing environmental changes and adapting the learned models in response to such changes. Many research studies have been conducted on autonomous mobile robots that move by its own judgment. Generally in many research studies of autonomous mobile robotics it is necessary for a mobile robot to know environmental information from sensor s in order to navigate effectively. Those kinds of robots are expected for automation in order to give helps and reduce humans work load. In previous research studies of autonomous mobile robots navigation accurately control on the robot posture with a possibility of less error was always required. For that it is necessary to provide accurate and precise map information to the robot which makes the data become enormous and the application become tedious. However it is believed that for a robot which does not require any special accuracy it can still move to the destination like human even without providing any details map information or precise posture control. Therefore in this research study a robot navigation method based on a generated map and vision information without performing any precise position or orientation control has been proposed where the map is being simplified without any distance information being mentioned. In this work we present a novel motion controller system for autonomous mobile robot navigation which makes use the environmental visual features capture through a single CCD camera mounted on the robot. The main objective of this research work is to introduce a new learning visual perception .
