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A wide angle vision system for mobile robots

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3 Author(s)
Oh, S.J. ; Dept. of Mech. & Ind. Eng., Cincinnati Univ., OH, USA ; Ahn, D.J. ; Hall, Ernest L.

An overview of a wide-angle vision system for vision servo control of a mobile robot is presented. General theoretical principles are stated, followed by a specific example. It is noted that the general robot control problem is difficult due to the nonlinear, coupled nature of a multi-degree-of-freedom device. In specific cases, clever methods are required to uncouple the various degrees of freedom and simplify the nonlinear elements. The use of a specific test vehicle, a robot lawn mower, has provided a research tool with which to test new concepts and approaches

Published in:

Intelligent Control, 1988. Proceedings., IEEE International Symposium on

Date of Conference:

24-26 Aug 1988