An Autonomous Mobile Robotics Testbed: Construction, Validation, and Experiments

Author

Riggs, Travis A. ; Inanc, Tamer ; Zhang, Weizhong

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Louisville, Louisville, KY, USA

Volume

18

Issue

3

fYear

2010

fDate

5/1/2010 12:00:00 AM

Firstpage

757

Lastpage

766

Abstract

This paper describes design and construction of an Autonomous Mobile Robotics Systems Testbed in detail. The testbed is an indoor experimental platform for developing and validating theoretical as well as practical research work in identification, coordinative and cooperative control, trajectory generation, computational intelligence, and sensing for multiple autonomous mobile robotics systems. It provides a designated space for multiple mobile robots while tracking their position and orientation in real-time using an overhead vision system. Several problems encountered in developing the testbed such as multi-camera color consistency, radial lens distortion, hat pattern design are clearly addressed. The testbed is analyzed for its performance and several experiments with ER1 mobile robots are presented.

Keywords

cameras; image colour analysis; mobile robots; path planning; robot vision; ER1 mobile robots; autonomous mobile robotics testbed; computational intelligence; cooperative control; coordinative control; hat pattern design; identification; multicamera color consistency; overhead vision system; radial lens distortion; sensors; trajectory generation; Color vision; mobile robots; multi-camera color consistency; path planning; testbed;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2009.2027429

Filename

5229334