Path Teaching Method for a Mobile Robot by Significant Images - Matching Based on Ceiling Fluorescent Lamps -

摘要

The authors propose a path teaching method for a mobile robot using images of significant scenes such as turning points and a goal point. In order to realize the teaching method, this paper describes a matching method between reference images and current images that are taken while the robot is running. The essential point of the method is using fluorescent lamps as reference points for the position and magnification between the images. The magnification and correlation between the images give the degree of nearness between the images. Experimental results show the possibility of the method.