Keyframe Tracking-based Path Planner for Vision-based Autonomous Mobile Robots

Ji Hoon Choi, Hee Won Chae, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, visual navigation systems have been actively studied in mobile robot navigation. Such systems create keyframes to correct and track the pose of a mobile robot. However, unlike manual control, the mobile robot under autonomous control is likely to fail to follow the keyframe path accurately due to control errors. To deal with this problem, we propose a novel local path planner called a keyframe tracking-based path planner (KTPP) that helps a robot to track the keyframe path continuously. The KTPP constantly monitors whether or not the robot is on the keyframe path and if not, a local path is generated to guide a robot to return to the desired keyframe path. Various experiments show that the KTPP lead the robot to arrive at the goal point more accurately.

Original languageEnglish
Title of host publicationICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages1054-1057
Number of pages4
ISBN (Electronic)9788993215182
DOIs
Publication statusPublished - 2019 Oct
Event19th International Conference on Control, Automation and Systems, ICCAS 2019 - Jeju, Korea, Republic of
Duration: 2019 Oct 152019 Oct 18

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2019-October
ISSN (Print)1598-7833

Conference

Conference19th International Conference on Control, Automation and Systems, ICCAS 2019
CountryKorea, Republic of
CityJeju
Period19/10/1519/10/18

Keywords

  • keyframes
  • Path planning
  • PnP
  • visual SLAM

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Choi, J. H., Chae, H. W., & Song, J. B. (2019). Keyframe Tracking-based Path Planner for Vision-based Autonomous Mobile Robots. In ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings (pp. 1054-1057). [8971460] (International Conference on Control, Automation and Systems; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.23919/ICCAS47443.2019.8971460