J.R. Asensio J.M.M. Montiel L. Montano
Dpto. de Informática e Ingeniería de Sistemas
Centro Politécnico Superior, Universidad de Zaragoza
María de Luna 3, 50015 Zaragoza, SPAIN
e-mail : {jrasensi,josemari,montano}@posta.unizar.es
ABSTRACT
In this paper a technique for robot navigation based on the cooperation of two complementary sensors is presented. The trajectory is planned obtaining the next location to be reached by means of a stereo vision system. The motion towards this location is carried out using a reactive obstacle avoidance navigation technique in unstructured environments without a priori map. The information about the environment is provided to the robot by two complementary sensors: a trinocular vision system and a laser rangefinder. The laser sensor is used for obstacle avoidance. Experimental results are reported, which show the robustness of the proposed techniques.
Keywords: Mobile Robots, Robot Navigation, Obstacle Avoidance, Computer Vision, Stereo Vision, Range finders, Real Time