NDLI: Autonomous cross-floor navigation of a stair-climbing mobile robot using wireless and vision sensor

Content Provider	IEEE Xplore Digital Library
Author	Wei-Min Lai Chi-Ying Lin
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan (Wei-Min Lai; Chi-Ying Lin)
Abstract	This paper aims to present an autonomous cross-floor navigation system for stair-climbing mobile robot using wireless and vision sensors. Starting from the first floor to the fourth floor in the same building, the discussed map composed of stairways and indoor/outdoor corridors has five road sections. By using upward and forward looking camera setups, imaged based navigation is conducted in most road sections. Image features including ceiling landmarks, stair lines, and skirting lines are adopted to detect robot guiding lanes with appropriate image-processing algorithms. Particularly, wireless sensor modules are installed in the image dead zones so that the robot can adjust and continue its motion accordingly, achieving such long-distance navigation task. To let the robot follow the detected image lanes correctly, a visual servo control driven by image errors and based on car-like mobile robot differential kinematics is also applied for motion control. A self-made stair-climbing robot is finally used to validate the effectiveness of the proposed navigation method.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1
Ending Page	6
File Size	2863097
Page Count	6
File Format	PDF
ISBN	9781479911738
DOI	10.1109/ISR.2013.6695649
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-10-24
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image navigation Navigation Webcams Lane detection Image dead zone Wireless sensor Cross-floor Robot sensing systems Universal Serial Bus Indexes Servomotors
Content Type	Text
Resource Type	Article

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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