Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
The Confluence of Vision and Control
The Confluence of Vision and Control
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
Real-Time Programming of Mobile Robot Actions Using Advanced Control Techniques
The 4th International Symposium on Experimental Robotics IV
Feasible Trajectories for Mobile Robots with Kinematic and Environment Constraints
Intelligent Autonomous Systems, An International Conference
Real-time obstacle avoidance using central flow divergence and peripheral flow
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Study of the navigation parameters in appearance-based navigation of a mobile robot
ICIAP'05 Proceedings of the 13th international conference on Image Analysis and Processing
| Hi-index | 0.00 |
This paper presents the application of the Visual Servoing approach to a mobile robot which must execute coordinate motions in a known indoor environment. In this work, we are interested in the execution and control of basic motions like Go to an object by using the mobile robot H^i l a r e 2 B i s. We use a diagonal matrix for the gain λ to improve the visual servoing behaviour and the potential field formalism to avoid obstacles. Namely, the robot is controlled according to the position of some features in an image. Such a path will be executed by a nonholonomic mobile robot, which has only two degrees of freedom (two wheels), and three configuration parameters (X Y &thetas;); a camera is mounted on the robot close to the end effector of an arm, controlled to add at least a new degree of freedom (&thetas;_p l).