Vision-based control of mobile robots

D. Burschka, G. Hager

Research output: Contribution to journalConference article

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)
Pages (from-to)1707-1713
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
StatePublished - Jan 1 2001
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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