Binocular stereovision omnidirectional motion handling robot

Motion control of an omnidirectional mobile robot

This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. R...

Motion control of an omnidirectional mobile robot

Motion-Based Stereovision Method with Potential Utility in Robot Navigation

Autonomous robot guidance in dynamic environments requires, on the one hand, the study of relative motion of the objects of the environment with respect to the robot, and on the other hand, the analysis of the depth towards those objects. In this paper, a stereo vision method, which combines both topics with potential utility in robot navigation, is proposed. The goal of the stereo vision model...

Instantaneous Robot Self-Localisation and Motion Estimation with Omnidirectional Vision

This paper presents two related methods for autonomous visual guidance of robots: localisation by trilateration, and inter-frame motion estimation. Both methods use co-axial omnidirectional stereopsis (omnistereo), which returns the range r to objects or guiding points detected in the images. The trilateration method achieves self-localisation using r from the three nearest objects at known pos...

Reactive Motion Control for an Omnidirectional Mobile Robot

This paper presents the developed practical approach to reactive motion control for the omnidirectional mobile vehicle of the Karlsruhe Autonomous Mobile Robot (KAMRO). The reactive control is based on the ultrasonic sensory information processing and is a supplement to the usual motion control of the vehicle. The geometrical path planner on the base of the environmental model generates global ...