Visual Registration and Navigation using Planar Features
General Robotics, Automation, Sensing and Perception Laboratory
This paper addresses the problem of registering the hexapedal robot RHex, relative to a known set of beacons, by real-time visual servoing. A suitably constructed navigation function represents the task, in the sense that for a completely actuated machine in the horizontal plane, the gradient dynamics guarantee convergence to the visually cued goal without ever losing sight of the beacons that define it. Since the horizontal plane behavior of RHex can be represented as a unicycle, feeding back the navigation function gradient avoids loss of beacons, but does not yield an asymptotically stable goal. We address new problems arising from the configuration of the beacons and present preliminary experimental results that illustrate the discrepancies between the idealized and physical robot actuation capabilities.
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Copyright 2003 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2003 (ICRA 2003), pages 3935-3940. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to firstname.lastname@example.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently (June 2005), he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.