Abstract
Autonomous cleaning robots should completely cover the accessible area with minimal repeated coverage. We present a mostly visionbased navigation strategy for systematical exploration of an area with meandering lanes. The results of the robot experiments show that our approach can guide the robot along parallel lanes while achieving a good coverage with only a small proportion of repeated coverage. The proposed method can be used as a building block for more elaborated navigation strategies which allow the robot to systematically clean rooms with a complex workspace shape.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Prassler, E., Ritter, A., Schaeffer, C., Fiorini, P.: A short history of cleaning robots. Autonomous Robots 9 (2000) 211–226
Prassler, E., Kosuge, K.: Domestic Robotics. In: Springer Handbook of Robotics. Springer (2008) 1253–1281
Choset, H.: Coverage for robotics — a survey of recent results. Annals of Mathematics and Artificial Intelligence 31 (2001) 113–126
Gabriely, Y., Rimon, E.: Spanning-tree based coverage of continuous areas by a mobile robot. Annals of Mathematics and Artificial Intelligence 31 (2001) 77–98
Hazon, N., Mieli, F., Kaminka, G.: Towards robust on-line multi-robot coverage. In: Proceedings of the ICRA 2006. (2006) 1710–1715
Trullier, O., Wiener, S., Berthoz, A., Meyer, J.: Biologically-based artificial navigation systems: Review and prospects. Progress in Neurobiology 51 (1997) 483–544
Franz, M., Mallot, H.: Biomimetic robot navigation. Robotics and Autonomous Systems 30 (2000) 133–153
Cartwright, B., Collett, T.: Landmark learning in bees. Journal of Comparative Physiology A 151 (1983) 521–543
Cartwright, B., Collett, T.: Landmark maps in honeybees. Biological Cybernetics 57 (1987) 85–93
Möller, R., Vardy, A.: Local visual homing by matched-filter descent in image distances. Biological Cybernetics 95 (2006) 413–430
Vardy, A., Möller, R.: Biologically plausible visual homing methods based on optical flow techniques. Connection Science 17 (2005) 47–89
Franz, M., Schölkopf, B., Mallot, H., Bülthoff, H.: Where did I take that snapshot? Scene-based homing by image matching. Biological Cybernetics 79 (1998) 191–202
Möller, R.: Local visual homing by warping of two-dimensional images. Robotics and Autonomous Systems 57 (2009) 87–101
Möller, R.: Three 2D-warping schemes for visual robot navigation. Autonomous Robots (2009) submitted.
Filliat, D., Meyer, J.: Map-based navigation in mobile robots: part I. Cognitive Systems Research 4 (2003) 243–282
Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press (2005)
Chen, Z., Samarabandu, J., Rodrigo, R.: Recent advances in simultaneous localization and map-building using computer vision. Advanced Robotics 21 (2007) 113–126
Kreft, S.: Reinigungstrajektorien mobiler Roboter unter visueller Steuerung. Diploma thesis, Bielefeld University, Faculty of Technology, Computer Engineering Group (2007)
Möller, R., Vardy, A., Gerstmayr, L., Röben, F., Kreft, S.: Neuroethological concepts at work: Insect-inspired methods for visual robot navigation. In: Biological Approaches for Engineering. (2008) 91–94
Greguss, P.: Panoramic imaging block for three-dimensional space. US Patent No. 4,566,763 (1986)
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge University Press (2003)
de Jong, J.: Kaimanfilter zur Positionsbestimmung auf mäandrierenden Bahnen. Diploma thesis, Bielefeld University, Faculty of Technology, Computer Engineering Group (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Gerstmayr, L., Röben, F., Krzykawski, M., Kreft, S., Venjakob, D., Möller, R. (2009). A Vision-Based Trajectory Controller for Autonomous Cleaning Robots. In: Dillmann, R., Beyerer, J., Stiller, C., Zöllner, J.M., Gindele, T. (eds) Autonome Mobile Systeme 2009. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10284-4_9
Download citation
DOI: https://doi.org/10.1007/978-3-642-10284-4_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10283-7
Online ISBN: 978-3-642-10284-4
eBook Packages: Computer Science and Engineering (German Language)