A Nonlinear Control Applied to Team Formation Based on Omnidirectional Vision

Author

Gava, Christiano Couto ; Vassallo, Raquel Frizera ; Carelli, Ricardo ; Filho, Teodiano Freire Bastos

Author_Institution

Dept. of Electr. Eng., Federal Univ. of Espirito Santo

Volume

1

fYear

2006

fDate

9-13 July 2006

Firstpage

372

Lastpage

377

Abstract

In this work a mobile robot cooperation strategy based on computational vision is presented. Such strategy can be applied to a mobile robot team formed by simple and cheap robots and a leader robot with more computational power. The leader has an omnidirectional visual system and uses color segmentation to obtain the pose of the follower robots. This visual information is used as visual feedback to a nonlinear stable controller that manages team formation. Simulations and tests were run and current results are encouraging

Keywords

image segmentation; mobile robots; nonlinear control systems; robot vision; color segmentation; computational vision; mobile robot cooperation strategy; nonlinear stable controller; omnidirectional visual system; Angular velocity control; Computer vision; Machine vision; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Robot vision systems; Robotic assembly; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2006 IEEE International Symposium on

Conference_Location

Montreal, Que.

Print_ISBN

1-4244-0496-7

Electronic_ISBN

1-4244-0497-5

Type

conf

DOI

10.1109/ISIE.2006.295622

Filename

4077953