Line-following using omnidirectional vision control
Manoj P. Ghayalod, Ernest L. Hall, Fred W. Reckelhof, Bradley O. Matthews, Michael A. Ruthemeyer · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1993
Mobile robotics is a broad field, and many mobile systems have been developed as forms of automated guided vehicle systems (AGVSs), on/off line teleoperator systems such as remotely piloted vehicles (RPVs), personal mobile robots, and experimental mobile robots. Navigation and motion control are the key elements required for safe, reliable, and accurate operation of the mobile unit. In this paper a technique for mobile robot navigation using a wide angle imaging system to follow a line is used. The sensed position information provides a basis for controlling the motion of mobile robot by comparing the current position to the desired position to determine range and bearing correction signals for the robot motor controllers. These positions are along a predetermined path. Ultrasonic sensors are also used to avoid obstacles.