Trajectory Planning and Stabilizing Using Visual Feedback and Transputer Network
نویسندگان
چکیده
The paper describes development and experimental implementation of a visual control for the miniature laboratory robot Khepera. The robot and its stationary environment are observed by a static CCD camera, a collision free path in the two dimensional workspace is determined by artificial potential field methods and it is realized using real-time visual feedback. Computations are performed on T9000 new generation transputers. The system calibration, motion prediction and tracking, and trajectory stabilization for nonholonomic vehicle are considered.
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تاریخ انتشار 1997