Real time determination of the location and speed of mobile robots running on non-planar surfaces

Author

Le Corre, J.F. ; Garcia, G.

Author_Institution

Lab. d´´Autom. de Nantes, Ecole Centrale des Nantes, CNRS, France

fYear

1992

fDate

12-14 May 1992

Firstpage

2594

Abstract

The authors present a sensory system called SIREM which is able to provide the position, attitude, and speed of a moving vehicle. The sensor is a turning linear charged coupled device (CCD) camera attached to the vehicle. The camera receives light from sources allocated on the site, and the sensor gives their azimuth and height angles. Software computes the location and speed of the robot at each reading of a beacon. The equations involved in this computation and their solution are presented. The system has been designed to meet the accuracy requirements of civil-engineering: a few millimeters in the vertical direction and down to 0.1° on the attitude angles

Keywords

CCD image sensors; computer vision; mobile robots; navigation; position control; real-time systems; velocity control; CCD camera; SIREM; attitude angles; azimuth; localisation; machine vision; mobile robots; position estimation; real time systems; speed estimation; Azimuth; Cameras; Charge coupled devices; Charge-coupled image sensors; Equations; Mobile robots; Robot sensing systems; Robot vision systems; Turning; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.220051

Filename

220051