Publicado

2003-11-28

Stable AGV Corridor Navigation with Fused Vision-Based Control Signals

Stable AGV corridor navigation with fused vision-based control signals

Palabras clave:

Mobile Robots, Visión-based control, Corridor navigation (en)
Robots móviles, Controladores, Señales de control, Filtro de Kalman (es)

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Autores/as

  • Ricardo Carelli Universidad Nacional de San Juan
  • Carlos Soria Universidad Nacional de San Juan
  • Oscar Nasisi Universidad Nacional de San Juan
  • Eduardo Freire Universidade Federal de Sergipe

ABSTRACT: This work presents a control strategy for mobile robots navigating in corridors, using the fusion of the control signals from vision based controllers. To this aim two controllers are proposed to generate the control signals to be fused: one is based on the optical flow calculation and the other is based on the perspective lines in the corridor. Both controllers generate angular velocity commands to keep the robot navigating along the corridor, and compensate for the dynamics of the robot. The fusion of both control signals is made by using a Kalman filter. Stability of the resulting control system in analyzed. Experiments on a laboratory robot are presented to show the feasibility and performance of the proposed controller. (Texto tomado de la fuente)

This work presents a control strategy for mobile robots navigating in corridors, using the fusion of the control signals from vision based controllers. To this aim two controllers are proposed to generate the control signals to be fused: one is based on the optical flow calculation and the other is based on the perspective lines in the corridor. Both controllers generate angular velocity commands to keep the robot navigating along the corridor, and compensate for the dynamics of the robot. The fusion of both control signals is made by using a Kalman filter. Stability of the resulting control system in analyzed. Experiments on a laboratory robot are presented to show the feasibility and performance of the proposed controller. (Texto tomado de la fuente)

Referencias

Arkin, R. and Balch, T. AuRA: principles and practice in review. 'Experimental and Theoretical Artificial Intelligence, 9, pp. 175-189, 1997.

Barron J. , et al. Performance of optical flow techniques. IJVC 12:1, pp. 43-47, 1994.

Bicho, E The dynamic approach to behavior-based robotics. PhD. Thesis, University of Minho, Portugal,1999.

Carelli R. and E. Freire. Stable Corridor Navigation Controller for Sonar-Based Mobile Robots. Technical Report, INAUT, Univ. Nac. de San Juan. Argentina, 2001.

Cómo citar

IEEE

[1]
R. Carelli, C. Soria, O. Nasisi, y E. Freire, «Stable AGV Corridor Navigation with Fused Vision-Based Control Signals », DYNA, vol. 70, n.º 140, pp. 61–70, nov. 2003.

ACM

[1]
Carelli, R., Soria, C., Nasisi, O. y Freire , E. 2003. Stable AGV Corridor Navigation with Fused Vision-Based Control Signals . DYNA. 70, 140 (nov. 2003), 61–70.

ACS

(1)
Carelli, R.; Soria, C.; Nasisi, O.; Freire , E. Stable AGV Corridor Navigation with Fused Vision-Based Control Signals . DYNA 2003, 70, 61-70.

APA

Carelli, R., Soria, C., Nasisi, O. & Freire , E. (2003). Stable AGV Corridor Navigation with Fused Vision-Based Control Signals . DYNA, 70(140), 61–70. https://revistas.unal.edu.co/index.php/dyna/article/view/115562

ABNT

CARELLI, R.; SORIA, C.; NASISI, O.; FREIRE , E. Stable AGV Corridor Navigation with Fused Vision-Based Control Signals . DYNA, [S. l.], v. 70, n. 140, p. 61–70, 2003. Disponível em: https://revistas.unal.edu.co/index.php/dyna/article/view/115562. Acesso em: 26 dic. 2025.

Chicago

Carelli, Ricardo, Carlos Soria, Oscar Nasisi, y Eduardo Freire. 2003. «Stable AGV Corridor Navigation with Fused Vision-Based Control Signals ». DYNA 70 (140):61-70. https://revistas.unal.edu.co/index.php/dyna/article/view/115562.

Harvard

Carelli, R., Soria, C., Nasisi, O. y Freire , E. (2003) «Stable AGV Corridor Navigation with Fused Vision-Based Control Signals », DYNA, 70(140), pp. 61–70. Disponible en: https://revistas.unal.edu.co/index.php/dyna/article/view/115562 (Accedido: 26 diciembre 2025).

MLA

Carelli, R., C. Soria, O. Nasisi, y E. Freire. «Stable AGV Corridor Navigation with Fused Vision-Based Control Signals ». DYNA, vol. 70, n.º 140, noviembre de 2003, pp. 61-70, https://revistas.unal.edu.co/index.php/dyna/article/view/115562.

Turabian

Carelli, Ricardo, Carlos Soria, Oscar Nasisi, y Eduardo Freire. «Stable AGV Corridor Navigation with Fused Vision-Based Control Signals ». DYNA 70, no. 140 (noviembre 28, 2003): 61–70. Accedido diciembre 26, 2025. https://revistas.unal.edu.co/index.php/dyna/article/view/115562.

Vancouver

1.
Carelli R, Soria C, Nasisi O, Freire E. Stable AGV Corridor Navigation with Fused Vision-Based Control Signals . DYNA [Internet]. 28 de noviembre de 2003 [citado 26 de diciembre de 2025];70(140):61-70. Disponible en: https://revistas.unal.edu.co/index.php/dyna/article/view/115562

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