Real-Time Vision-Based Control of a Nonholonomic Mobile Robot
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This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry. We provide experimental results for each of these vision-based control objects. The algorithms are packaged as control modes and can be combined hierarchically to perform higher level tasks involving multiple robots.
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Copyright 2001 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2001 (ICRA 2001), Volume 2, pages 1714-1719. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=20183&page=7 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.