Title :
Vision-based formation control of mobile robots with relative motion states
Author :
Liu, Shicai ; Tan, Dalong ; Liu, Guangjun
Author_Institution :
Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang
Abstract :
In this paper, a formation control algorithm for mobile robots is developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and communication between robots. This is achieved by employing the velocity variations, instead of actual velocities, as the control inputs. Simulations and experimental results have demonstrated the effectiveness of the proposed control methods
Keywords :
computer vision; image sensors; mobile robots; motion control; path planning; position control; mobile robots; pan camera vision system; relative motion sensory system; tilt camera vision system; vision-based formation control; Cameras; Communication system control; Control systems; Machine vision; Mobile communication; Mobile robots; Motion control; Robot control; Robot sensing systems; Robot vision systems;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246404
