A wide angle vision system for mobile robots

An overview of a wide-angle vision system for vision servo control of a mobile robot is presented. General theoretical principles are stated, followed by a specific example. It is noted that the general robot control problem is difficult due to the nonlinear, coupled nature of a multi-degree-of-freedom device. In specific cases, clever methods are required to uncouple the various degrees of freedom and simplify the nonlinear elements. The use of a specific test vehicle, a robot lawn mower, has provided a research tool with which to test new concepts and approaches