Publicado
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)
Descargas
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.
Visitas a la página del resumen del artículo
Descargas
Cómo citar
Licencia
Derechos de autor 2024 DYNA
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-SinDerivadas 4.0.
El autor o autores de un artículo aceptado para publicación en cualquiera de las revistas editadas por la facultad de Minas cederán la totalidad de los derechos patrimoniales a la Universidad Nacional de Colombia de manera gratuita, dentro de los cuáles se incluyen: el derecho a editar, publicar, reproducir y distribuir tanto en medios impresos como digitales, además de incluir en artículo en índices internacionales y/o bases de datos, de igual manera, se faculta a la editorial para utilizar las imágenes, tablas y/o cualquier material gráfico presentado en el artículo para el diseño de carátulas o posters de la misma revista.
