Title :
Vision-based implementation of feedback control of unicycle robots
Author :
Kwolek, B. ; Kapuscinski, Tomasz ; Wysocki, M.
Author_Institution :
Dept. of Control Eng. & Comput. Sci., Rzeszow Univ. of Technol., Poland
Abstract :
The paper considers the development and experimental implementation of real-time visual control for unicycle laboratory mobile robots. Two problems are discussed: 1) posture tracking on the basis of pictures obtained from static monochromatic CCD camera looking down at the planar motion field from above; and 2) following geometric path given as white line, continuous or dashed, on the road observed by an on-board camera. Realization details of feedback laws and results of computer simulations and experiments with real vehicles are presented
Keywords :
feedback; mobile robots; optical tracking; position control; real-time systems; robot vision; feedback; mobile robots; path following; posture tracking; real-time systems; robot vision; unicycle robots; visual control; Cameras; Charge coupled devices; Charge-coupled image sensors; Computer simulation; Feedback control; Laboratories; Mobile robots; Roads; Robot vision systems; Tracking;
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location :
Kiekrz
Print_ISBN :
0-7803-5655-1
DOI :
10.1109/ROMOCO.1999.791060
