Naokazu Iwata1, Joo Kooi Tan2
1Graduate School of Engineering, Kyushu Institute of Technology, Kitakyushu,
804-8550, Fukuoka, Japan
2Faculty of Engineering, Kyushu Institute of Technology, Kitakyushu, 804-8550,
Fukuoka, Japan
pp. 101-105
ABSTRACT
This paper proposes an autonomous mobile robot expected to realize an intelligent
robot that supports a human life. The proposed mobile robot has three main
functions; self-position estimation, road region estimation, and route
planning. Self-position estimation is performed by comparing local features
obtained from the frontal images captured by the robot to a knowledge base.
In road region estimation, the frontal image is separated into several
regions to find the region where the robot can move. Furthermore, the route
to the destination is planned by graph search. Experimental results show
satisfactory performance of the proposed mobile robot.
ARTICLE INFO
Article History
Received 13 November 2019
Accepted 21 July 2020
Keywords
Autonomous mobile robot
ORB
BoF
GBS
K-means++
JAALR1210
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