Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area

GRASP

Date of this Version

May 2001

Comments

Copyright 2001 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2001 (ICRA 2001), Volume 2, pages 1714-1719.
Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=20183&page=7

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Abstract

This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry. We provide experimental results for each of these vision-based control objects. The algorithms are packaged as control modes and can be combined hierarchically to perform higher level tasks involving multiple robots.

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Date Posted: 15 November 2004

This document has been peer reviewed.