Abstract
This paper presents an approach for direct control of a mobile robot to keep it on a pre-taught path based solely on the perception from a monocular CCD camera. In particular, we present a novel vision-based control algorithm for mobile systems equipped with a conventional camera and a pan-tilt head or with an omnidirection camera. This algorithm avoids numerical instabilities of previously reported approaches. The experimental performance of the method as well as its practical limitations are discussed.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 1707-1713 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| State | Published - Jan 1 2001 |
| Event | 2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of Duration: May 21 2001 → May 26 2001 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering