DocumentCode
3228566
Title
Vision-based control of mobile robots
Author
Burschka, Darius ; Hager, Gregory
Author_Institution
Comput. Interaction & Robotics Lab., Johns Hopkins Univ., Baltimore, MD, USA
Volume
2
fYear
2001
fDate
2001
Firstpage
1707
Abstract
This paper presents an approach for direct control of a mobile robot to keep it on a pre-taught path based solely on the perception from a monocular CCD camera. In particular, we present a novel vision-based control algorithm for mobile systems equipped with a conventional camera and a pan-tilt head or with an omnidirection camera. This algorithm avoids numerical instabilities of previously reported approaches. The experimental performance of the method as well as its practical limitations are discussed.
Keywords
CCD image sensors; mobile robots; robot vision; direct control; mobile robots; monocular CCD camera; numerical instabilities; omnidirection camera; pan-tilt head; perception; pre-taught path; vision-based control; Cameras; Charge coupled devices; Control systems; Education; Laboratories; Magnetic heads; Mobile robots; Navigation; Robot control; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932857
Filename
932857
Link To Document