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In this paper, a novel scheme is proposed to improve real-time performance of simultaneous localization and mapping (SLAM) of a mobile robot based on depth-augmented visual features. In this design, the robot has two stages in navigation applications, namely the map building stage and the map usage stage. In the map-building stage, a local map is built to join into the global map. For the map-usage...
Because of its 360deg field of view, an omni-directional camera is suitable for detecting and tracking environmental features in mobile robot navigation applications. This study aims to investigate simultaneous localization and mapping (SLAM) of a mobile robot using omni-directional images. A switching method of visual reference scans is proposed to facilitate fast visual scan matching in the SLAM...
This paper presents a design of behavior-fusion architecture for mobile robot navigation. We first design three behaviors for robot navigation, including obstacle avoidance, wall following, and goal seeking. We implement these primitive behaviors by using fuzzy-logic control approaches. Then, the fusion weight of each behavior is determined by using the proposed behavior-fusion neural network. The...
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