Summary: Proc. of the 8th IEEE Mediterranean Conference
on Control and Automation (MED2000)
Rio, Patras, Greece, July 17-19, 2000
1
CORRIDOR FOLLOWING BY MOBILE ROBOTS
EQUIPPED WITH PANORAMIC CAMERAS
DIMITRIS P. TSAKIRISy
, ANTONIS A. ARGYROS y
yInstitute of Computer Science, FORTH, P.O. Box 1385, GR­711 10, Heraklion, Crete,
Greece, ftsakiris, argyrosg@ics.forth.gr
Abstract. The present work considers corridor­following maneuvers for nonholo-
nomic mobile robots, guided by sensory data acquired by panoramic cameras. The
panoramic vision system provides information from an environment with textured
walls to the motion control system, which drives the robot along a corridor. Panoramic
cameras have a 360 visual field, a capability that the proposed control methods ex-
ploit. In our sensor­based control scheme, optical flow information from several
distinct viewing directions in the entire field of view of the panoramic camera is used
directly in the control loop, without the need for state reconstruction. The interest of
this lies in the fact that the optical flow information is not sufficient to reconstruct the
state of the system, it is however sufficient for the proposed control law to accomplish

Source: Argyros, Antonis - Foundation of Research and Technology, Hellas & Department of Computer Science, University of Crete
Trahanias, Panos - Institute of Computer Science, Foundation of Research and Technology, Hellas

Collections: Computer Technologies and Information Sciences