A biologically inspired method for vision-based docking of wheeled mobile robots
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
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.
wheeled robots, navigation, robust control, computer vision
Robotics Control Engineering
IdentifiersURN: urn:nbn:se:umu:diva-118187DOI: 10.1016/j.robot.2007.04.002ISI: 000250733000002OAI: oai:DiVA.org:umu-118187DiVA: diva2:920631