| Autor: | M. Devy, R. Swain Oropeza, V. Cadenat |
|---|---|
| Rok vydání: | 1999 |
| Předmět: |
Engineering
Social robot business.industry Mechanical Engineering Mobile robot Bang-bang robot Robot end effector Motion control Visual servoing Industrial and Manufacturing Engineering law.invention Robot control Artificial Intelligence Control and Systems Engineering Control theory law Robot Computer vision Artificial intelligence Electrical and Electronic Engineering business Software |
| Zdroj: | Journal of Intelligent and Robotic Systems. 25:357-369 |
| ISSN: | 0921-0296 |
| DOI: | 10.1023/a:1008179028940 |
| Popis: | This paper presents the application of the Visual Servoing approach to a mobile robot which must execute coordinate motions in a known indoor environment. In this work, we are interested in the execution and control of basic motions like Go to an object by using the mobile robot H^i l a r e 2 B i s. We use a diagonal matrix for the gain λ to improve the visual servoing behaviour and the potential field formalism to avoid obstacles. Namely, the robot is controlled according to the position of some features in an image. Such a path will be executed by a nonholonomic mobile robot, which has only two degrees of freedom (two wheels), and three configuration parameters (X Y t); a camera is mounted on the robot close to the end effector of an arm, controlled to add at least a new degree of freedom (t_p l). |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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