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http://dx.doi.org/10.5391/JKIIS.2004.14.5.577

Position Estimation of Wheeled Mobile Robot in a Corridor Using Neural Network  

Choi, Kyung-Jin (강남대학교 제3대학 전자시스템정보공학부)
Lee, Young-Hyun (강남대학교 제3대학 전자시스템정보공학)
Park, Chong-Kug (경희대학교 전자정보학부 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.14, no.5, 2004 , pp. 577-582 More about this Journal
Abstract
This paper describes position estimation algorithm using neural network for the navigation of the vision-based Wheeled Mobile Robot (WMR) in a corridor with taking ceiling lamps as landmark. From images of a corridor the lamp's line on the ceiling in corridor has a specific slope to the lateral position of the WMR. The vanishing point produced by the lamp's line also has a specific position to the orientation of WMR. The ceiling lamps has a limited size and shape like a circle in image. Simple image processing algorithms are used to extract lamps from the corridor image. Then the lamp's line and vanishing point's position are defined and calculated at known position of WMR in a corridor To estimate the lateral position and orientation of WMR from an image, the relationship between the position of WMR and the features of ceiling lamps have to be defined. Data set between position of WMR and features of lamps are configured. Neural network are composed and teamed with data set. Back propagation algorithm(BPN) is used for learning. And it is applied in navigation of WMR in a corridor.
Keywords
Neural Network; Position Estimation; Image Processing; wheeled mobile robot;
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