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Nonholonomic Mobile Robots Equipped with Panoramic Cameras

Summary: Nonholonomic Mobile Robots
Equipped with Panoramic Cameras:
Corridor Following
Dimitris P. Tsakiris and Antonis A. Argyros
Institute of Computer Science - FORTH
Vassilika Vouton, P.O.Box 1385
71110 Heraklion, Crete, Greece
ftsakiris, argyrosg@ics.forth.gr
Technical Report ICS TR 272 - JUNE 00
The present work considers corridor{following maneuvers for mobile robots with
nonholonomic constraints, guided by sensory data acquired by panoramic cameras.
The panoramic vision system provides information from an environment with tex-
tured walls to the motion control system, which drives the robot along a corridor.
Panoramic cameras have a 360 visual eld, a capability that the proposed control
methods attempt to exploit. We consider two types of sensor{based controllers: one
is a path{following state feedback control law where the state of the robot inside the
corridor is reconstructed from the visual data in the other, optical ow information
from several distinct \looking" directions in the eld of view of the panoramic camera


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