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Article
Real-Time Vision-Based Control of a Nonholonomic Mobile Robot
Departmental Papers (MEAM)
  • Aveek K. Das, University of Pennsylvania
  • Rafael Fierro, University of Pennsylvania
  • R. Vijay Kumar, University of Pennsylvania
  • B. Southall, University of Pennsylvania
  • John R. Spletzer, University of Pennsylvania
  • Camillo J. Taylor, University of Pennsylvania
Document Type
Conference Paper
Date of this Version
5-21-2001
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.

Citation Information
Aveek K. Das, Rafael Fierro, R. Vijay Kumar, B. Southall, et al.. "Real-Time Vision-Based Control of a Nonholonomic Mobile Robot" (2001)
Available at: http://works.bepress.com/vijay_kumar/8/