Real-Time Vision-Based Control of a Nonholonomic Mobile RobotDepartmental Papers (MEAM)
Document TypeConference Paper
Date of this Version5-21-2001
AbstractThis 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 InformationAveek 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/