TY - GEN
T1 - Keyframe Tracking-based Path Planner for Vision-based Autonomous Mobile Robots
AU - Choi, Ji Hoon
AU - Chae, Hee Won
AU - Song, Jae Bok
N1 - Funding Information:
This work was supported by IITP grant funded by the Korea Government MSIT. (o. 20N 18-0-00622).
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
KW - Path planning
KW - PnP
KW - keyframes
KW - visual SLAM
UR - http://www.scopus.com/inward/record.url?scp=85079086651&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85079086651&partnerID=8YFLogxK
U2 - 10.23919/ICCAS47443.2019.8971460
DO - 10.23919/ICCAS47443.2019.8971460
M3 - Conference contribution
AN - SCOPUS:85079086651
T3 - International Conference on Control, Automation and Systems
SP - 1054
EP - 1057
BT - ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings
PB - IEEE Computer Society
T2 - 19th International Conference on Control, Automation and Systems, ICCAS 2019
Y2 - 15 October 2019 through 18 October 2019
ER -