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A Nonlinear Control Applied to Team Formation Based on Omnidirectional Vision

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4 Author(s)
Gava, C.C. ; Dept. of Electr. Eng., Federal Univ. of Espirito Santo ; Vassallo, R.F. ; Carelli, R. ; Filho, M.S.

In this work a mobile robot cooperation strategy based on computational vision is presented. Such strategy can be applied to a mobile robot team formed by simple and cheap robots and a leader robot with more computational power. The leader has an omnidirectional visual system and uses color segmentation to obtain the pose of the follower robots. This visual information is used as visual feedback to a nonlinear stable controller that manages team formation. Simulations and tests were run and current results are encouraging

Published in:

Industrial Electronics, 2006 IEEE International Symposium on  (Volume:1 )

Date of Conference:

9-13 July 2006