Title :
A Nonlinear Control Applied to Team Formation Based on Omnidirectional Vision
Author :
Gava, Christiano Couto ; Vassallo, Raquel Frizera ; Carelli, Ricardo ; Filho, Teodiano Freire Bastos
Author_Institution :
Dept. of Electr. Eng., Federal Univ. of Espirito Santo
Abstract :
In this work a mobile robot cooperation strategy based on computational vision is presented. Such strategy can be applied to a mobile robot team formed by simple and cheap robots and a leader robot with more computational power. The leader has an omnidirectional visual system and uses color segmentation to obtain the pose of the follower robots. This visual information is used as visual feedback to a nonlinear stable controller that manages team formation. Simulations and tests were run and current results are encouraging
Keywords :
image segmentation; mobile robots; nonlinear control systems; robot vision; color segmentation; computational vision; mobile robot cooperation strategy; nonlinear stable controller; omnidirectional visual system; Angular velocity control; Computer vision; Machine vision; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Robot vision systems; Robotic assembly; Service robots;
Conference_Titel :
Industrial Electronics, 2006 IEEE International Symposium on
Conference_Location :
Montreal, Que.
Print_ISBN :
1-4244-0496-7
Electronic_ISBN :
1-4244-0497-5
DOI :
10.1109/ISIE.2006.295622
