Abstract
This paper presents an approach for direct control of a mobile robot to keep it on a pre-taught path based solely on the perception from a monocular CCD camera. In particular, we present a novel vision-based control algorithm for mobile systems equipped with a conventional camera and a pan-tilt head or with an omnidirection camera. This algorithm avoids numerical instabilities of previously reported approaches. The experimental performance of the method as well as its practical limitations are discussed.
| Original language | English |
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| Pages (from-to) | 1707-1713 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| State | Published - 2001 |
| Externally published | Yes |
| Event | 2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of Duration: 21 May 2001 → 26 May 2001 |