Biologically Inspired Turn Control for Autonomous Mobile Robots
نویسندگان
چکیده
An exportable and robust system for turn control using only camera images is proposed for path execution in robot navigation. Robot motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames in the image sequence. This information is used to compute the instantaneous rotation angle. Finally, control loop is closed correcting robot displacements when it is requested for a turn command. The proposed system has been successfully tested on the four-legged Sony Aibo robot.
منابع مشابه
Are Autonomous Mobile Robots Able to Take Over Construction? A Review
Although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. Today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...
متن کاملA biologically inspired method for vision-based docking of wheeled mobile robots
We present a new control law for the problem of docking a wheeled robot to a target at a certain location with a desired heading. Recent research into insect navigation has inspired a solution which uses only one video camera. The control law is of the “behavioral” type in that all control actions are based on immediate visual information. Docking success under certain conditions is proved math...
متن کاملControlling Dynamic Stability and Active Compliance to Improve Quadrupedal Walking
Fluidically driven robots with biologically inspired actuators p. 97 Concept for energy-autarkic, autonomous climbing robots p. 107 Navigation of walking robots : path planning p. 115 Study on mobility of connected crawler robotby using GA p. 123 A robot that climbs walls using micro-structured polymer feet p. 131 Novel solutions to design problems of industrial climbing robots p. 139 Fast poin...
متن کاملEffective Mechatronic Models and Methods for Implementation an Autonomous Soccer Robot
Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...
متن کاملPhD Program in Bioengineering and Robotics Curriculum Robotics and Autonomous Systems
1. BIOLOGICALLY INSPIRED APPROACHES TO PERCEPTION, KNOWLEDGE REPRESENTATION AND ACTION IN ROBOTICS ............................................................................................................................. 2 2. COORDINATED PLANNING, ESTIMATION, AND NAVIGATION FOR AUTONOMOUS MOBILE ROBOTS ............................................................................................
متن کامل