---
title: "Visual Path Planning by a Mobile Robot"
authors:
  - "Saburo Tsuji"
  - "Jiang Yu Zheng"
doi: ""
url: "https://ijcai.org/proceedings/1987/228"
pdf: "https://ijcai.org/proceedings/1987/0228.pdf"
venue: "Proceedings of the Tenth International Joint Conference on Artificial Intelligence"
year: 1987
pages: "1127-1129"
track: "Robotics"
keywords:
---

# Visual Path Planning by a Mobile Robot

Saburo Tsuji, Jiang Yu Zheng

*Proceedings of the Tenth International Joint Conference on Artificial Intelligence*, pages 1127-1129.

## Abstract

Stereo-vision-based mobile robots observe their environments and acquire 3-0 data with considerab 1e errors in range. Rather than to use the convention a 1 2-0 maps, described with these i naccurate data in the absolute coordinate system, a flexible relational model of the global world can be built with 1oca 1 maps sui ted for each function of robots such as path planning or manipulation. For the path planning, a perspective representation of the local world, the image on which the scene interpretation is mapped, is proposed. Using wor 1d constraints and sensory information of camera orientation, a stereo-image analyzer determines vertical projections of edge points on the floor in the image. A method for planning of promising paths to the specified goal using this representation is presented.