Title :
Uncalibrated vision-based mobile robot obstacle avoidance
Author :
Piepmeier, Jenelle Armstrong
Author_Institution :
US Naval Acad., Annapolis, MD, USA
Abstract :
Obstacle avoidance is an important element of mobile robot navigation. Here the obstacle avoidance problem is solved utilizing visual feedback in an optimization-based control technique. This work is part of a larger investigation of uncalibrated vision-based control of unmodelled robotic systems. Specifically, this paper will discuss the control of a mobile robot utilizing a fixed camera. The mobile robot´s workspace is within the field of view of the camera. Control is formalized as the minimization of an image-based objective function related to some desired robotic behavior. This function is minimized utilizing a dynamic quasi-Newton method utilizing dynamic recursive least squares Jacobian estimation. An advantage of using Jacobian estimation is that the system model is estimated online. This approach provides a generic control method that can be used to control a variety of robotic systems with little a priori information. In addition, no camera calibration is necessary, allowing system reconfigurations. For obstacle avoidance, a potential field approach is used to set up repulsive functions around obstacles. The design and implementation of an objective function that will navigate the robot to a goal point while avoiding obstacles is discussed
Keywords :
Jacobian matrices; Newton method; collision avoidance; feedback; least squares approximations; minimisation; mobile robots; optimal control; recursive estimation; robot vision; camera calibration; dynamic quasi-Newton method; dynamic recursive least-squares Jacobian estimation; fixed camera; image-based objective function minimization; mobile robot navigation; obstacle avoidance; online estimation; optimization-based control technique; repulsive functions; system reconfigurations; uncalibrated vision-based mobile robot obstacle avoidance; unmodelled robotic systems; visual feedback; Cameras; Control systems; Feedback; Jacobian matrices; Least squares approximation; Mobile robots; Navigation; Recursive estimation; Robot control; Robot vision systems;
Conference_Titel :
System Theory, 2001. Proceedings of the 33rd Southeastern Symposium on
Conference_Location :
Athens, OH
Print_ISBN :
0-7803-6661-1
DOI :
10.1109/SSST.2001.918526