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Authors: Lluis Pacheco and Ningsu Luo

Affiliation: Institute of Informatics and Applications, University of Girona, Spain

ISBN: 978-972-8865-83-2

Keyword(s): Autonomous mobile robots, computer vision control, system identification, model based control, predictive control, trajectory planning, obstacle avoidance, robot vision.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: Nowadays, the local visual perception research, applied to autonomous mobile robots, has succeeded in some important objectives, such as feasible obstacle detection and structure knowledge. This work relates the on-robot visual perception and odometer system information with the nonlinear mobile robot control system, consisting in a differential driven robot with a free rotating wheel. The description of the proposed algorithms can be considered as an interesting aspect of this report. It is developed an easily portable methodology to plan the goal achievement by using the visual data as an available source of positions. Moreover, the dynamic interactions of the robotic system arise from the knowledge of a set of experimental robot models that allow the development of model predictive control strategies based on the mobile robot platform PRIM available in the Laboratory of Robotics and Computer Vision. The meaningful contribution is the use of the local visual information as an occupa ncy grid where a local trajectory approaches the robot to the final desired configuration, while avoiding obstacle collisions. Hence, the research is focused on the experimental aspects. Finally, conclusions on the overall work are drawn. (More)

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Paper citation in several formats:
Pacheco L.; Luo N. and (2007). PREDICTIVE CONTROL BY LOCAL VISUAL DATA - Mobile Robot Model Predictive Control Strategies Using Local Visual Information and Odometer Data.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 259-266. DOI: 10.5220/0001638102590266

@conference{icinco07,
author={Lluis Pacheco and Ningsu Luo},
title={PREDICTIVE CONTROL BY LOCAL VISUAL DATA - Mobile Robot Model Predictive Control Strategies Using Local Visual Information and Odometer Data},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={259-266},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001638102590266},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PREDICTIVE CONTROL BY LOCAL VISUAL DATA - Mobile Robot Model Predictive Control Strategies Using Local Visual Information and Odometer Data
SN - 978-972-8865-83-2
AU - Pacheco, L.
AU - Luo, N.
PY - 2007
SP - 259
EP - 266
DO - 10.5220/0001638102590266

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