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

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

614

Lastpage

619

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4776716

Filename

4776716