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.
|Title of host publication||ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings|
|Publisher||IEEE Computer Society|
|Number of pages||4|
|Publication status||Published - 2019 Oct|
|Event||19th International Conference on Control, Automation and Systems, ICCAS 2019 - Jeju, Korea, Republic of|
Duration: 2019 Oct 15 → 2019 Oct 18
|Name||International Conference on Control, Automation and Systems|
|Conference||19th International Conference on Control, Automation and Systems, ICCAS 2019|
|Country/Territory||Korea, Republic of|
|Period||19/10/15 → 19/10/18|
Bibliographical noteFunding Information:
This work was supported by IITP grant funded by the Korea Government MSIT. (o. 20N 18-0-00622).
© 2019 Institute of Control, Robotics and Systems - ICROS.
- Path planning
- visual SLAM
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering