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| Format: | Artículo científico |
| Sprache: | en |
| Veröffentlicht: |
Universidad Nacional de Colombia
2003
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| Online-Zugang: | https://www.redalyc.org/articulo.oa?id=49614006 |
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| _version_ | 1866812460952977408 |
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| author | Carlos Soria |
| author_facet | Carlos Soria |
| contents | Stable AGV Corridor Navigation with Fused Vision-Based Control Signals Carlos Soria Ricardo Carelli Oscar Nasisi Eduardo Freire Ingeniería This work presents a control strategy for mobile robots navigating in corridors, using thefusion of the control signals from vision based controllers. To this aim two controllers are proposed togenerate the control signals to be fused: one is based on the optical flow calculation and the other is based onthe perspective lines in the corridor. Both controllers generate angular velocity commands to keep the robotnavigating along the corridor, and compensate for the dynamics of the robot. The fusion of both controlsignals is made by using a Kalman filter. Stability of the resulting control system in analyzed. Experiments ona laboratory robot are presented to show the feasibility and performance of the proposed controller. 2003 artículo científico 0012-7353 https://www.redalyc.org/articulo.oa?id=49614006 en http://www.redalyc.org/revista.oa?id=496 Dyna application/pdf Universidad Nacional de Colombia Dyna (Colombia) Num.140 Vol.70 |
| format | Artículo científico |
| id | redalyc_49614006 |
| language | en |
| publishDate | 2003 |
| publisher | Universidad Nacional de Colombia |
| spellingShingle | Stable AGV Corridor Navigation with Fused Vision-Based Control Signals Carlos Soria Ingeniería Stable AGV Corridor Navigation with Fused Vision-Based Control Signals Carlos Soria Ricardo Carelli Oscar Nasisi Eduardo Freire Ingeniería This work presents a control strategy for mobile robots navigating in corridors, using thefusion of the control signals from vision based controllers. To this aim two controllers are proposed togenerate the control signals to be fused: one is based on the optical flow calculation and the other is based onthe perspective lines in the corridor. Both controllers generate angular velocity commands to keep the robotnavigating along the corridor, and compensate for the dynamics of the robot. The fusion of both controlsignals is made by using a Kalman filter. Stability of the resulting control system in analyzed. Experiments ona laboratory robot are presented to show the feasibility and performance of the proposed controller. 2003 artículo científico 0012-7353 https://www.redalyc.org/articulo.oa?id=49614006 en http://www.redalyc.org/revista.oa?id=496 Dyna application/pdf Universidad Nacional de Colombia Dyna (Colombia) Num.140 Vol.70 |
| title | Stable AGV Corridor Navigation with Fused Vision-Based Control Signals |
| topic | Ingeniería |
| url | https://www.redalyc.org/articulo.oa?id=49614006 |