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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Lili Ma |
| Copyright Year | 2010 |
| Description | Author affiliation: Dept. of Electron. & Mech., Wentworth Inst. of Technol., Boston, MA, USA (Lili Ma) |
| Abstract | This paper discusses vision-based avoidance of obstacles with unknown sizes and unknown constant velocities for four-wheel nonholonomic robots. The robot is equipped with an inertial measurement unit that provides measurements of the robot's position and velocity, and a monocular camera that detects the obstacles. An analytical scheme is adopted for trajectory generation and vehicle control. Vision sensor is used to obtain the estimates of the obstacles' unknown sizes and unknown velocities that are used by the trajectory generation scheme. The effectiveness of the proposed technique is demonstrated by numerical simulation examples. |
| Starting Page | 5550 |
| Ending Page | 5555 |
| File Size | 848215 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424474264 |
| ISSN | 07431619 |
| e-ISBN | 9781424474271 |
| DOI | 10.1109/ACC.2010.5531010 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-06-30 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Mobile robots Wheels Cameras Robot kinematics Robot sensing systems Vehicle dynamics Trajectory Robot vision systems Algorithm design and analysis Measurement units fast estimator Trajectory generation and replanning obstacle avoidance vision-based estimation |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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