Visual guidance control based on the Hough transform

Abstract

In this paper, a new method using the Hough transform (HT) to correct the drift of the mobile robot CESA is presented. The corrections are made by direct observation; a unique on-board camera is utilized and rotation/translation parameters are computed taking into account the robot neighborhood parameters. As illustration an algorithm implemented is detailed and experiment results for CESA navigation in our laboratory's corridor and free trajectory generation are given. This paper describes too the structure of the vehicle and its associated sensors.