Research on Precise Localization for Autonomous Mobile Robots Formation

Author

Huang, Hengjun ; Qu, Yancheng ; Wang, Changhong

Author_Institution

Inertial Navigation Center, Harbin Instn. of Technol.

fYear

2004

fDate

22-26 Aug. 2004

Firstpage

142

Lastpage

145

Abstract

In this paper, a precise locating method is presented which is based on machine vision for autonomous mobile robots formation. According to the request of real-time control system, at first, we adopt patterns based on texture as the features of robots formation, then utilize sub-pixel algorithm to find feature points, at last, use least square method to locate mobile robot quickly. The outcome of experiments in the lab indicates the effectiveness of the method. It is also robust against environment noise

Keywords

feature extraction; image texture; least mean squares methods; mobile robots; real-time systems; robot vision; autonomous mobile robot; environment noise; least square method; machine vision; pose estimation; precise locating method; real-time control system; robot localization; robots formation; subpixel algorithm; Control systems; Layout; Mobile robots; Motion control; Orbital robotics; Real time systems; Robot localization; Robot vision systems; Shape; Space technology; machine vision; pose estimation; robot localization; robots formation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

0-7803-8614-8

Type

conf

DOI

10.1109/ROBIO.2004.1521766

Filename

1521766