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
  • [31] On Latencies and Noise Effects in Vision-Based Control of Mobile Robots
    Aref, Mohammad M.
    Vihonen, Juho
    Ghabcheloo, Reza
    Mattila, Jouni
    ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, 2018, 49 : 191 - 199
  • [32] Vision-based leader/follower tracking for nonholonomic mobile robots
    Kannan, Hariprasad
    Chitrakaran, Vilas K.
    Dawson, Darren M.
    Burg, Timothy
    2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 2007, : 2519 - +
  • [33] Vision-based Localization for Mobile Robots Using Particle Filter
    Liu, Dongbo
    Liu, Guorong
    Yu, Miaohua
    PROCEEDINGS OF THE SECOND INTERNATIONAL CONFERENCE ON MODELLING AND SIMULATION (ICMS2009), VOL 6, 2009, : 354 - 356
  • [34] Vision-Based Fuzzy Navigation of Mobile Robots in Grassland Environments
    Ravari, A. R. Norouzzadeh
    Taghirad, H. D.
    Tamjidi, A. H.
    2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2009, : 1434 - 1439
  • [35] Vision-based dynamic velocity field generation for mobile robots
    Medina-Melendez, W.
    Fermin, L.
    Cappelletto, J.
    Murrugarra, C.
    Fernandez-Lopez, G.
    Grieco, J. C.
    ROBOT MOTION AND CONTROL 2007, 2007, 360 : 69 - +
  • [36] Vision-based door-traversal for autonomous mobile robots
    Eberst, C
    Andersson, M
    Christensen, HI
    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 2000, : 620 - 625
  • [37] Optimal landmark configuration for vision-based control of mobile robots
    Burschka, D
    Geiman, J
    Hager, G
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, : 3917 - 3922
  • [38] Biologically Inspired Vision Systems for Flying Robots - Editorial
    Fernandez-Caballero, Antonio
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2016, 13
  • [39] Biologically Inspired Mobile Robot Vision Localization
    Siagian, Christian
    Itti, Laurent
    IEEE TRANSACTIONS ON ROBOTICS, 2009, 25 (04) : 861 - 873
  • [40] A Vision-based Mobile Robot Localization Method
    Chi, Wenzheng
    Zhang, Wei
    Gu, Jason
    Ren, Hongliang
    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2013, : 2703 - 2708
12345