Jiann-Der Lee, Jau-Yien lee, Chin-Hsing Chen,
King-Chu Hung and Chia-Nian Shyi
Department of Electrical and Computer Engineering
National Cheng Kung University
Tainan, Taiwan, R.O.C.
A new approach to robot guidance by understanding the Indication-Posts is proposed. The approach is based on the conviction that once a human being is in an unfamiliar environment he can arrive at a destination by following the IPs encountered.
Only a monocular image of the scene taken by the robot and local information are required in this approach. To realize this concept, several IPs depicting simple information were demonstrated. To understand the meaning depicted by the IP, image processing and pattern recognition techniques were integrated to resolve the problems of IP finding, robot location determination, IP identification and understanding. Experimental results in a simulated environment verified that the approach is feasible and reliable.
Keywords: robot guidance, indication-post, finite state grammar, robot location determination, IP understanding, image processing
Received August 25, 1990; revised March 31, 1991.
Communicatedy by J. S. Huang.