Navigation of a Mobile Robot using Mono-Vision and Mono-Audition

초록

Incorporation of various types of sensors increases the degrees of autonomy and intelligence of mobile robots (mobots) in perceiving surroundings, which at the same time imposes a large computational burden on data processing. The purpose of the research presented in this paper is to develop a low-cost multi-sensor system and incidental algorithms for autonomous navigation of a mobot. This paper proposes digital image processing schemes for map-building and localization of a mobot using a monocular vision system and a single ultrasonic sensor in indoor environments. The proposed algorithms were implemented, and the mobot was able to localize itself in an allowed position error range and to locate dynamic obstacles moving reasonably fast inside a building. The overall results demonstrate the suitability of the proposed methods for developing autonomous service mobots in indoor environments.