Authors:
Lluis Pacheco
and
Ningsu Luo
Affiliation:
Institute of Informatics and Applications, University of Girona, Spain
Keyword(s):
Autonomous mobile robots, computer vision control, system identification, model based control, predictive control, trajectory planning, obstacle avoidance, robot vision.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
Abstract:
Nowadays, the local visual perception research, applied to autonomous mobile robots, has succeeded in some important objectives, such as feasible obstacle detection and structure knowledge. This work relates the on-robot visual perception and odometer system information with the nonlinear mobile robot control system, consisting in a differential driven robot with a free rotating wheel. The description of the proposed algorithms can be considered as an interesting aspect of this report. It is developed an easily portable methodology to plan the goal achievement by using the visual data as an available source of positions. Moreover, the dynamic interactions of the robotic system arise from the knowledge of a set of experimental robot models that allow the development of model predictive control strategies based on the mobile robot platform PRIM available in the Laboratory of Robotics and Computer Vision. The meaningful contribution is the use of the local visual information as an occup
ancy grid where a local trajectory approaches the robot to the final desired configuration, while avoiding obstacle collisions. Hence, the research is focused on the experimental aspects. Finally, conclusions on the overall work are drawn.
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