Omnidirectional Position Location For Mobile Robots

Mohammad Ehtashami; Sung J. Oh; Ernest L. Hall

doi:10.1117/12.946164

17 January 1985 Omnidirectional Position Location For Mobile Robots

Mohammad Ehtashami, Sung J. Oh, Ernest L. Hall

Proceedings Volume 0521, Intelligent Robots and Computer Vision; (1985) https://doi.org/10.1117/12.946164
Event: 1984 Cambridge Symposium, 1984, Cambridge, United States

Abstract

Autonomous, self-guiding mobile robots require special sensors that are not necessary for stationary robots. The purpose of this paper is to describe the design, construction and initial testing of an omnidirectional vision system used to control a mobile robot. A unique sensor and algorithm have been developed to calculate the distance from the center of the vision system to fixed position targets. The system provides an absolute global positioning system for the mobile robot. The guidance and position determination algorithm are described and some experimental results are given. The sensor has been developed for a prototype mobile robot for lawn mowing. However, the method appears to have several other applications. Some of these include industrial carts for material transport, military sentry duties and mobile tanks, medical patient care transport systems, as well as domestic applications such as vacuum cleaning.

Citation Download Citation

Mohammad Ehtashami, Sung J. Oh, and Ernest L. Hall "Omnidirectional Position Location For Mobile Robots", Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); https://doi.org/10.1117/12.946164

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