Vision-based implementation of feedback control of unicycle robots

B. Kwolek, T. Kapuscinski, M. Wysocki
{"title":"Vision-based implementation of feedback control of unicycle robots","authors":"B. Kwolek, T. Kapuscinski, M. Wysocki","doi":"10.1109/ROMOCO.1999.791060","DOIUrl":null,"url":null,"abstract":"The paper considers the development and experimental implementation of real-time visual control for unicycle laboratory mobile robots. Two problems are discussed: 1) posture tracking on the basis of pictures obtained from static monochromatic CCD camera looking down at the planar motion field from above; and 2) following geometric path given as white line, continuous or dashed, on the road observed by an on-board camera. Realization details of feedback laws and results of computer simulations and experiments with real vehicles are presented.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.1999.791060","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 13

Abstract

The paper considers the development and experimental implementation of real-time visual control for unicycle laboratory mobile robots. Two problems are discussed: 1) posture tracking on the basis of pictures obtained from static monochromatic CCD camera looking down at the planar motion field from above; and 2) following geometric path given as white line, continuous or dashed, on the road observed by an on-board camera. Realization details of feedback laws and results of computer simulations and experiments with real vehicles are presented.
基于视觉的独轮车机器人反馈控制实现
本文研究了独轮车实验室移动机器人实时视觉控制的开发与实验实现。讨论了两个问题:1)基于静态单色CCD相机从上方俯视平面运动场获得的图像进行姿态跟踪;2)在车载摄像头观察到的道路上,沿着白线给出的连续或虚线的几何路径行驶。给出了反馈规律的实现细节以及计算机仿真和实车实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信