A goal oriented navigation system using vision

GÜZEL M. S., Nattharith P., Duran A. S.

Journal of Telecommunication, Electronic and Computer Engineering, cilt.9, sa.2-3, ss.73-76, 2017 (Scopus) identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 9 Sayı: 2-3
  • Basım Tarihi: 2017
  • Dergi Adı: Journal of Telecommunication, Electronic and Computer Engineering
  • Derginin Tarandığı İndeksler: Scopus
  • Sayfa Sayıları: ss.73-76
  • Anahtar Kelimeler: Behavioral Design, Goal-Oriented Navigation, Mobile Robots, Monocular Vision
  • Ankara Üniversitesi Adresli: Evet

Özet

This paper addresses a goal oriented navigation framework in a behavior-based manner for autonomous systems. The framework is mainly designed based on a behavioral architecture and relies on a monocular vision camera to obtain the location of goal. The framework employs a virtual physic based method to steer the robot towards the goal while avoiding unknown obstacles, located along its path. Simulation results validate the performance of the proposed framework.