Title :
A method for vision-based docking of wheeled mobile robots
Author :
Low, Emily M P ; Manchester, Ian R. ; Savkin, Andrey V.
Author_Institution :
Sch. of Electr. & Telecommun., New South Wales Univ., Sydney, NSW
Abstract :
We present a new control law for the problem of docking a wheeled robot at a certain location with a desired heading. Research into insect navigation has inspired a solution which uses just one environment sensor: a video camera. The control law is of the "behavioral" or "reactive" type, in that no attempt is made to observe the relative pose of robot and target, all control actions are based on immediate visual information. Experiments were performed for verification of docking strategy and practical realization of some aspects of insect behavior such as locating and fixation on a target
Keywords :
mobile robots; position control; robot vision; behavioral control law; image processing; navigation; reactive control law; robust control; video camera; vision-based docking; wheeled mobile robots; Cameras; Control systems; Insects; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Robot vision systems; Robotics and automation; Telecommunication control; Image Processing; Navigation; Robust Control; Wheeled Robots;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776716
