Title :
Research on Precise Localization for Autonomous Mobile Robots Formation
Author :
Huang, Hengjun ; Qu, Yancheng ; Wang, Changhong
Author_Institution :
Inertial Navigation Center, Harbin Instn. of Technol.
Abstract :
In this paper, a precise locating method is presented which is based on machine vision for autonomous mobile robots formation. According to the request of real-time control system, at first, we adopt patterns based on texture as the features of robots formation, then utilize sub-pixel algorithm to find feature points, at last, use least square method to locate mobile robot quickly. The outcome of experiments in the lab indicates the effectiveness of the method. It is also robust against environment noise
Keywords :
feature extraction; image texture; least mean squares methods; mobile robots; real-time systems; robot vision; autonomous mobile robot; environment noise; least square method; machine vision; pose estimation; precise locating method; real-time control system; robot localization; robots formation; subpixel algorithm; Control systems; Layout; Mobile robots; Motion control; Orbital robotics; Real time systems; Robot localization; Robot vision systems; Shape; Space technology; machine vision; pose estimation; robot localization; robots formation;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521766
