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
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