DocumentCode :
2682358
Title :
Visual navigation with a time-independent varying reference
Author :
Cherubini, Andrea ; Chaumette, François
Author_Institution :
IRISA, INRIA Rennes - Bretagne Atlantique, Rennes, France
fYear :
2009
fDate :
10-15 Oct. 2009
Firstpage :
5968
Lastpage :
5973
Abstract :
In this paper, we present a controller for visual navigation, which utilizes a time-independent varying reference in the feedback law. The navigation framework relies on a monocular camera, and the path is represented as a series of key images. The varying reference is determined using a vector field, derived from the previous and next key images. Results in a simulated environment, as well as on a real robot, show the advantages of the varying reference, with respect to a fixed one, in the image, as well as in the 3D state space.
Keywords :
mobile robots; path planning; robot vision; feedback law; monocular camera; path; robot; time-independent varying reference; vector field; visual navigation; Cameras; Control systems; Image databases; Mobile robots; Orbital robotics; Robot vision systems; Satellite navigation systems; Trajectory; Visual databases; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
Type :
conf
DOI :
10.1109/IROS.2009.5354284
Filename :
5354284
Link To Document :
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