Experimental position and ranging results for a mobile robot

Abstract

Experimental results are presented that support theory published in the literature concerning the use of a navigation line for the guidance of mobile robots. A method for the determination of a robot's position is developed. A specialized edge operator, which aids in the segmentation of a navigation line from an image of a robot's environment, is given. Use of this specialized edge operator in conjunction with the Hough transform is also presented. These methods are used to verify the analytical results given previously. Comparisons are made between experimental data and expected results as a function of various system parameters. Real-time implementation of these methods is considered.