An Autonomous Mobile Robotics Testbed: Construction, Validation, and Experiments

被引：18

作者：

Riggs, Travis A. ^{[1
]}

Inanc, Tamer ^{[1
]}

Zhang, Weizhong ^{[1
]}

机构：

[1] Univ Louisville, Dept Elect & Comp Engn, Louisville, KY 40292 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2010年 / 18卷 / 03期

关键词：

Color vision; mobile robots; multi-camera color consistency; path planning; testbed; CALIBRATION;

D O I：

10.1109/TCST.2009.2027429

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes design and construction of an Autonomous Mobile Robotics Systems Testbed in detail. The testbed is an indoor experimental platform for developing and validating theoretical as well as practical research work in identification, coordinative and cooperative control, trajectory generation, computational intelligence, and sensing for multiple autonomous mobile robotics systems. It provides a designated space for multiple mobile robots while tracking their position and orientation in real-time using an overhead vision system. Several problems encountered in developing the testbed such as multi-camera color consistency, radial lens distortion, hat pattern design are clearly addressed. The testbed is analyzed for its performance and several experiments with ER1 mobile robots are presented.

引用

页码：757 / 766

页数：10

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