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- Title
Monocular Mapless Navigation in Streets and Highways.
- Authors
Ebrahimi, Mehdi; Ebrahimpour, Reza; Rasoolinezhad, Reza
- Abstract
Autonomous navigation between specified lines in streets and highways is among high demanded research topics in modern cities and factories nowadays. We developed a novel algorithm based on Hough transform and K-means clustering technique to find heading direction. In this paper, we present a new procedure to navigate through streets and highways without using any a priori information to the robot. This work which focuses on outdoor cases is the continuation of prior work of authors in indoor environments, especially, in corridors. Monocular vision has been used to serve this purpose. The heading point is determined by clustering of lines with 45° orientation. The robot uses these clusters to perceive the environment and to find an appropriate path of navigation.
- Subjects
NAVIGATION; HOUGH functions; ROBOTICS; CLUSTERING of particles; CONTROL theory (Engineering); AUTOMATIC control systems
- Publication
International Review of Automatic Control, 2010, Vol 3, Issue 5, p545
- ISSN
1974-6059
- Publication type
Article