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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.
Das, Aveek K.; Fierro, Rafael; Kumar, R. Vijay; Southall, B.; Spletzer, John R.; and Taylor, Camillo J., "Real-Time Vision-Based Control of a Nonholonomic Mobile Robot" (2001). Departmental Papers (MEAM). 18.
Date Posted: 15 November 2004
This document has been peer reviewed.