A biologically inspired method for vision-based docking of wheeled mobile robots

被引：49
|
作者：
Low, Emily M. P. [1 ]
Manchester, Ian R.
Savkin, Andrey V.
机构：
[1] Univ New S Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia
[2] Umea Univ, Dept Appl Phys & Elect, SE-90187 Umea, Sweden
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2007年 / 55卷 / 10期
基金：
澳大利亚研究理事会;
关键词：
wheeled robots; navigation; robust control; computer vision;
D O I：
10.1016/j.robot.2007.04.002
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a new control law for the problem of docking a wheeled robot to a target at a certain location with a desired heading. Recent research into insect navigation has inspired a solution which uses only one video camera. The control law is of the "behavioral" type in that all control actions are based on immediate visual information. Docking success under certain conditions is proved mathematically and simulation studies show the control law to be robust to camera intrinsic parameter errors. Experiments were performed for verification of the control law. (c) 2007 Elsevier B.V. All rights reserved.
引用
收藏
页码：769 / 784
页数：16
相关论文
共 50 条
  • [21] Vision-Based Triangular Formation Control of Mobile Robots
    Cook, Joshua
    Hu, Guoqiang
    PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 5146 - 5151
  • [22] Vision-based global localization and mapping for mobile robots
    Se, S
    Lowe, DG
    Little, JJ
    IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (03) : 364 - 375
  • [23] Vision-based force following control for mobile robots
    Shimizu, Hiroyuki
    Oda, Naoki
    PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8, 2007, : 2498 - 2503
  • [24] Streaming Image Sequences for Vision-Based Mobile Robots
    Pinto, Andry Maykol
    Moreira, Antonio Paulo
    Costa, Paulo Gomes
    CONTROLO'2014 - PROCEEDINGS OF THE 11TH PORTUGUESE CONFERENCE ON AUTOMATIC CONTROL, 2015, 321 : 637 - 646
  • [25] Vision-based outdoor navigation using mobile robots
    Wolf, Denis F.
    Netto, Celio N. S.
    2008 5TH LATIN AMERICAN ROBOTICS SYMPOSIUM (LARS 2008), 2008, : 30 - +
  • [26] Vision-Based Localization in Urban Areas for Mobile Robots
    Alimovski, Erdal
    Erdemir, Gokhan
    Kuzucuoglu, Ahmet Emin
    SENSORS, 2025, 25 (04)
  • [27] Vision-Based Velocity Estimations for Autonomous Mobile Robots
    Bakar, Siti Juliana Abu
    Hui, Richmond Tay Kim
    Goh, Patrick
    Ahmad, Nur Syazreen
    2023 International Conference on Energy, Power, Environment, Control, and Computing, ICEPECC 2023 - Proceedings, 2023,
  • [28] Vision-based trajectory tracking for mobile robots using Mirage pose estimation method
    Dinc, Semih
    Fahimi, Farbod
    Aygun, Ramazan
    IET COMPUTER VISION, 2016, 10 (05) : 450 - 458
  • [29] Vision-based motion planning and exploration algorithms for mobile robots
    Taylor, CJ
    Kriegman, DJ
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (03): : 417 - 426
  • [30] Vision-Based Mobile Robots Control Along a Given Trajectory
    Rodziewicz-Bielewicz, Jan
    Korzen, Marcin
    ARTIFICIAL INTELLIGENCE AND SOFT COMPUTING, ICAISC 2023, PT II, 2023, 14126 : 69 - 77
12345