{"title":"移动机器人的广角视觉系统","authors":"S. Oh, D.J. Ahn, E. Hall","doi":"10.1109/ISIC.1988.65481","DOIUrl":null,"url":null,"abstract":"An overview of a wide-angle vision system for vision servo control of a mobile robot is presented. General theoretical principles are stated, followed by a specific example. It is noted that the general robot control problem is difficult due to the nonlinear, coupled nature of a multi-degree-of-freedom device. In specific cases, clever methods are required to uncouple the various degrees of freedom and simplify the nonlinear elements. The use of a specific test vehicle, a robot lawn mower, has provided a research tool with which to test new concepts and approaches.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"157 3","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"A wide angle vision system for mobile robots\",\"authors\":\"S. Oh, D.J. Ahn, E. Hall\",\"doi\":\"10.1109/ISIC.1988.65481\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An overview of a wide-angle vision system for vision servo control of a mobile robot is presented. General theoretical principles are stated, followed by a specific example. It is noted that the general robot control problem is difficult due to the nonlinear, coupled nature of a multi-degree-of-freedom device. In specific cases, clever methods are required to uncouple the various degrees of freedom and simplify the nonlinear elements. The use of a specific test vehicle, a robot lawn mower, has provided a research tool with which to test new concepts and approaches.<<ETX>>\",\"PeriodicalId\":155616,\"journal\":{\"name\":\"Proceedings IEEE International Symposium on Intelligent Control 1988\",\"volume\":\"157 3\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-08-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings IEEE International Symposium on Intelligent Control 1988\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIC.1988.65481\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IEEE International Symposium on Intelligent Control 1988","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIC.1988.65481","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An overview of a wide-angle vision system for vision servo control of a mobile robot is presented. General theoretical principles are stated, followed by a specific example. It is noted that the general robot control problem is difficult due to the nonlinear, coupled nature of a multi-degree-of-freedom device. In specific cases, clever methods are required to uncouple the various degrees of freedom and simplify the nonlinear elements. The use of a specific test vehicle, a robot lawn mower, has provided a research tool with which to test new concepts and approaches.<>
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