umu.sePublications
Change search
ReferencesLink to record
Permanent link

Direct link
A biologically inspired method for vision-based docking of wheeled mobile robots
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2007 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 55, no 10, 769-784 p.Article in journal (Refereed) PublishedText
Abstract [en]

We present a new control law for the problem of docking a wheeled robot to a target at a certain location with a desired heading. Recent research into insect navigation has inspired a solution which uses only one video camera. The control law is of the "behavioral" type in that all control actions are based on immediate visual information. Docking success under certain conditions is proved mathematically and simulation studies show the control law to be robust to camera intrinsic parameter errors. Experiments were performed for verification of the control law.

Place, publisher, year, edition, pages
Amsterdam: Elsevier, 2007. Vol. 55, no 10, 769-784 p.
Keyword [en]
wheeled robots, navigation, robust control, computer vision
National Category
Robotics Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-118187DOI: 10.1016/j.robot.2007.04.002ISI: 000250733000002OAI: oai:DiVA.org:umu-118187DiVA: diva2:920631
Available from: 2016-04-18 Created: 2016-03-14 Last updated: 2016-04-18Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Manchester, Ian R
By organisation
Department of Applied Physics and Electronics
In the same journal
Robotics and Autonomous Systems
RoboticsControl Engineering

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 5 hits
ReferencesLink to record
Permanent link

Direct link