Development of an Autonomous Mobile Robot System with a Panoramic Vision

Y.-T. Wang and F.-M. Chang (Taiwan)


Autonomous mobile robot, Panoramic vision, Visual motion control


The development of an autonomous mobile robot with an on-board panoramic vision system is presented in this paper. The panoramic vision system includes a CCD facing upwards beneath the convex mirror and taking the picture reflected in the mirror. The image distorted problem is investigated and an effective image recovery method is proposed. We also design a tracking controller and a self-localization algorithm for the autonomous robot. The integrated robot system is tested for tracking a ball on a plane floor, and the results show the practical usage of the developed system.

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