Vision-based control of mobile robots

D. Burschka, Gregory Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1707-1713
Number of pages7
Volume2
StatePublished - 2001
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

Other

Other2001IEEE International Conference on Robotics and Automation (ICRA)
CountryKorea, Republic of
CitySeoul
Period5/21/015/26/01

Fingerprint

Mobile robots
Cameras
CCD cameras

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Burschka, D., & Hager, G. (2001). Vision-based control of mobile robots. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1707-1713)

Vision-based control of mobile robots. / Burschka, D.; Hager, Gregory.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2001. p. 1707-1713.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Burschka, D & Hager, G 2001, Vision-based control of mobile robots. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, pp. 1707-1713, 2001IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, Republic of, 5/21/01.
Burschka D, Hager G. Vision-based control of mobile robots. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. 2001. p. 1707-1713
Burschka, D. ; Hager, Gregory. / Vision-based control of mobile robots. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2001. pp. 1707-1713
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