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VISION-BASED BEHAVIOURS FOR AUTONOMOUS MOBILE ROBOTS

Heinz Hügli,Gilbert Maître,Claudio Facchinetti,François Tièche-2003-01-01
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TL;DRAbstract

This paper is a contribution to the investigation of the behavioural approach in robot vision. It describes the principle and implementation of a behaviourbased vision architecture for autonomous mobile robots. The paper gives some motivations for the behavioural approach and presents the selected vision architecture. The various behaviours selected to allows basic capabilities for vision-based navigation are: going towards, going to, going along, obstacle avoidance, obstacle detection, landmark following and free-space mapping. They are described together with the two vision systems they rely on: vision by structured light and active vision by landmarks.

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This paper is a contribution to the investigation of the behavioural approach in robot vision. It describes the principle and implementation of a behaviourbased vision architecture for autonomous mobile robots. The paper gives some motivations for the behavioural approach and presents the selected vision architecture. The various behaviours selected to allows basic capabilities for vision-based navigation are: going towards, going to, going along, obstacle avoidance, obstacle detection, landmark following and free-space mapping. They are described together with the two vision systems they rely on: vision by structured light and active vision by landmarks.

Keywords

Artificial intelligenceMobile robotComputer visionLandmarkObstacle avoidanceObstacleComputer scienceRobot

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