Autonomous navigation of quadcopters in unstructured indoor environments is a major problem due to the difficulty of reliable position sensing. While outdoor applications can use GPS for reliable localization, working indoors will require the use of either laser range finders or some other sensors. If the indoor scene is unknown to a robot, the task of mapping new areas also becomes a necessity...

Abstract This article presents a probabilistic road map (PRM) and visual servo control (visual-servoing) based path planning strategy that allows Motoman HP20D industrial robot to move from an initial positional random final position in the presence of fixed obstacles. The process begins with application PRM algorithm take point space where it has free line sight target, then apply servoing end...

The integration of global navigation satellite system (GNSS) single-frequency (SF) real-time kinematics (RTKs) and inertial (INS) has the advantages low-cost low-power consumption compared to multiple-frequency GNSS RTK/INS system. However, due vulnerability signal reception, application SF-RTK/INS is limited in complex environments. To improve positioning accuracy GNSS-blocked environments, we...

Visual servoing requires the target object to be in the field of view of the camera all the time. At the same time, we also want to achieve optimal path planning and controllability of the robot pose. This paper presents a new hybrid fuzzy control method for visual servoing of mobile robots to meet these requirements. IBVS (Image Based Visual Servoing) calculates the motion plan directly from t...

In two previous studies, we had demonstrated the influence of eye position on neuronal discharges in the middle temporal area, medial superior temporal area, lateral intraparietal area and area 7A of the awake monkey (Bremmer et al., 1997a,b). Eye position effects also have been found in visual cortical areas V3A and V6 and even in the premotor cortex and the supplementary eye field. These effe...

Moving objects change their position until signals from the photoreceptors arrive in the visual cortex. Nonetheless, motor responses to moving objects are accurate and do not lag behind the real-world position. The questions are how and where neural delays are compensated for. It was suggested that compensation is achieved within the visual system by extrapolating the position of moving objects...

We present a novel method for integrating GPS position estimates with position and attitude estimates derived from visual odometry using a scheme similar to a classic loosely-coupled GPS/INS integration. Under such an arrangement, we derive the error dynamics of the system and develop a Kalman Filter for estimating the errors in position and attitude. Using a control-based approach to observabi...

A new image-based visual servoing, based on the epipolar geometry, is presented. The estimation of the epipoles position, obtained by points correspondences extracted from two different images, allows to control the hand-eye robotic system. The camera-robot motion is achieved from the observation of the epipoles coordinates. Experimental results are presented.