Title :
Localization of miniature mobile robots using constant curvature dynamic contours
Author :
Perrin, Douglas P. ; Kadioglu, Esra ; Stoeter, Sascha A. ; Papanikolopoulos, Nikolaos
Author_Institution :
Dept. of Comput. Sci. & Eng., Minnesota Univ., Minneapolis, MN, USA
Abstract :
Presents a method for localizing miniature mobile robots (Scouts) using dynamic contours. An observer robot with a camera follows the miniature robot as it moves and jumps in the workspace. Dynamic contours are very effective in tracking the fast accelerations and decelerations of the Scout robot. We show initial experimental results with particular emphasis on the task of monitoring a Scout during jumps.
Keywords :
image motion analysis; mobile robots; path planning; robot vision; tracking; Scout robot; camera; constant curvature dynamic contours; fast accelerations tracking; fast decelerations tracking; jumps; miniature mobile robots; observer robot; robot localization; Acceleration; Cameras; Computer science; Mobile robots; Monitoring; Orbital robotics; Robot vision systems; Shape; Springs; Target tracking;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013440
