Vision-Based Navigation System of Autonomous Mobile Robot. Error Recovery Locomotion Experiments Based on Map Correspondence Module of HALAS.
Toshio Fukuda, Yasunari YOKOYAMA, Fumihito Arai, Koji SHIMOJIMA, Shigenori Ito, Yasunori Abe, Yoshio Tanaka · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1997
We present a vision-based navigation system which has an error recovery function for an autonomous mobile robot. A misrecognition of the landmark causes the robot to mislocate itself. When this happens. the robot is unable to perform its primary objective. In order to solve this kind of problem, we have proposed a hierarchical control architecture. "HALAS" (Hierarchical Adaptive and Learning Architecture System). HALAS consists of modules which are arranged hierarchically and each module represents a single function of this robot. When one module fails in its aim, the upper module detects the error and recovers from it using other useful information from its knowledge data base. In this paper, we show experimentally that the robot gets a heigher reliability in autonomous mobility because the Map Correspondence Module finds the error which has been caused by an Anemo Perception Module (landmark recognition module) and it corrects the error utilizing its map information.