Method for vision-based docking of wheeled mobile robots

被引：0
|
作者：
Low, Emily M. P. [1 ]
Manchester, Ian R. [1 ]
Savkin, Andrey V. [1 ]
机构：
[1] Univ New South Wales, Sch Elect & Telecommun, Sydney, NSW 2052, Australia
来源：
PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4 | 2006年
基金：
澳大利亚研究理事会;
关键词：
wheeled robots; navigation; robust control; image processing;
D O I：
暂无
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 at a certain location with a desired heading. Recent research into insect navigation has inspired a solution which uses just one environment sensor: a video camera. The control law is of the "behavioral" or "reactive" type, in that no attempt is made to observe the relative pose of robot and target, all control actions are based on immediate visual information. Experiments were performed for verification of docking strategy and practical realization of some aspects of insect behavior such as locating and fixation on a target.
引用
收藏
页码：343 / +
页数：2
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