An optical flow-based sensing system for reactive mobile robot navigation

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dc.date.accessioned2011-02-10T17:21:08Z
dc.date.available2011-02-10T17:21:08Z
dc.identifier.citationCALDEIRA, Eliete Maria de Oliveira; SCHNEEBELI, Hans Jörg Andreas; SARCINELLI-FILHO, Mário. An optical flow-based sensing system for reactive mobile robot navigation. Sba Controle & Automação, Natal, v. 18, n. 3, p. 265-277, jul./set. 2007. Disponível em: <http://www.scielo.br/pdf/ca/v18n3/a01v18n3.pdf>. Acesso em: 10 fev. 2011.por
dc.identifier.doi10.1590/S0103-17592007000300001
dc.identifier.issn0103-1759
dc.identifier.urihttp://repositorio.ufes.br/handle/10/589
dc.rightsopen accessen
dc.titleAn optical flow-based sensing system for reactive mobile robot navigationpor
dc.typearticleen
dcterms.abstractThis work discusses the use of optical flow to generate the sensorial information a mobile robot needs to react to the presence of obstacles when navigating in a non-structured environment. A sensing system based on optical flow and time-to-collision calculation is here proposed and experimented, which accomplishes two important paradigms. The first one is that all computations are performed onboard the robot, in spite of the limited computational capability available. The second one is that the algorithms for optical flow and time-to-collision calculations are fast enough to give the mobile robot the capability of reacting to any environmental change in real-time. Results of real experiments in which the sensing system here proposed is used as the only source of sensorial data to guide a mobile robot to avoid obstacles while wandering around are presented, and the analysis of such results allows validating the proposed sensing system.eng
dcterms.creatorCaldeira, Eliete Maria de Oliveira
dcterms.creatorSchneebeli, Hans Jorg Andreas
dcterms.creatorSarcinelli Filho, Mário
dcterms.issued2007-07
dcterms.languageengen
dcterms.subjectRobôs móveispor
dcterms.subjectVisão por computadorpor
dcterms.subjectNavegação de robôs móveispor
dcterms.subjectMobile robotseng
dcterms.subjectAutonomous vehicleseng
dcterms.subjectObstacle avoidanceeng
dcterms.subjectMobile robot navigationeng
dcterms.subjectComputer visioneng
dcterms.subjectOptical floweng
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