NDLI: Visual servo control for a class of mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Carvalho, J.R.H. Rives, P. Santa-Barbara, A. Bueno, S.S.
Copyright Year	2000
Description	Author affiliation: CTI, Automation Inst., Brazil (Carvalho, J.R.H.)
Abstract	Application of vision based control of mobile robots is a very promising area, however, solutions to real problems are almost always hampered by the difficulties associated with computational effort and robustness of image processing tasks. In the paper, an implementation for visual servo control based on off-the-shelf software and hardware components for wheeled nonholonomic robots is presented. All the algorithms are based on well established methodologies selected with simplicity as a fundamental criterion. The image processing tasks are implemented using mathematical morphology operators and the transformation from image parameters to 3D velocities is based on the interaction matrix approach. The results obtained are satisfactory and there is still a good margin of improvement in terms of execution performance.
Starting Page	431
Ending Page	436
File Size	609227
Page Count	6
File Format	PDF
ISBN	0780365623
ISSN	10851992
DOI	10.1109/CCA.2000.897462
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-09-27
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Servosystems Mobile robots Robot vision systems Automatic control Cameras Robot sensing systems Robotics and automation Robot control Computer vision Hardware
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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