Abstract
This paper outlines a set of problems associated with constructing a robust, domain-independent vision-based navigation system suitable for both structured and unstructured environments. The system utilizes visual tracking to monitor a set of automatically selected image features (markers), and employs vision-based control to guide the motion of the robot from the image trajectory of a set of markers. An environment is represented as a graph which may be constructed either under human control (e.g. by giving the system a tour) or autonomously as the system explores. In this paper, we review the system architecture and present two image-based mobile robot controllers for following visually-defined trajectories.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 3257-3262 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 3 |
| State | Published - 1998 |
| Externally published | Yes |
| Event | Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA Duration: Dec 16 1998 → Dec 18 1998 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization