Experiments in Visual Feedback Control of a Wheeled Mobile Robot
نویسندگان
چکیده
An experimental study is presented on vision-based feedback control methods for the. nonholononomic wheeled mobile robot SuperMARIO. The robot posture is measured via a cameraf ied o n the ceiling of an indoor environment. To this end, a simple localization algorithm has been developed. Performance on trajectory following and parking tasks i s compared under different controllers and using either odometric or visual feedback. The improvement with the latter i s obtained at the expense of a limited increase in sampling time.
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تاریخ انتشار 2002