In this paper, we present a omnidirectional vision-based navigation system that includes three approaches: obstacle avoidance based on sonar vision, direction estimation based on sonar vision and confection method of obstacle avoidance and direction estimation. This paper peruses effects of the mirror in omnidirectional vision applied to mobile robot navigation, as well. We design and establish four mirrors: small non-uniform pixel-density hyperbolic mirror, small uniform pixel density hyperbolic mirror, large non-uniform pixel density hyperbolic mirror and spherical mirror. This paper provides autonomous navigation for a mobile robot in an unknown environments. We use omnidirectional images without any prior calibration and detects static and dynamic obstacles. Our experiments operates in indoor environment with our particular sonar vision. The result show that small uniform pixel density hyperbolic mirror have best performance and big non-uniform pixel density hyperbolic mirror have weak performance in vision base mobile robot navigation. Also, the experimental results show acceptable performance considering computation costs in our sonar vision algorithm.
['Mohammad Hossein Bamorovat Abadi', 'Mohammadreza Asghari Oskoei']
Effects of Mirrors in Mobile Robot Navigation Based on Omnidirectional Vision