Referenced Items are not available for this document.
This paper reports on a reactive docking behavior which uses a vision algorithm that grows linearly with the number of image pixels. The docking robot imprints (initializes) on a two-colored docking fiducial upon departing from the dock, then uses region statistics to adapt the color segmentation in changing lighting conditions. The docking behavior was implemented on a marsupial team of robots, where a daughter micro-rover had to reenter the mother robot from an approach zone with a 2 m radius and 140° angular width with a tolerance of ±5 and ±2 cm. Testing during outdoor conditions (noon, dusk) and challenging indoor scenarios (flashing lights) showed that using adaptation and imprinting was more robust than using imprinting atone
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:17
,
Issue:
6
)
Date of Publication: Dec 2001
- Page(s):
- 922 - 930
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 7159295
- Digital Object Identifier :
- 10.1109/70.976026
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Dec 2001
- Sponsored by :
- IEEE Robotics and Automation Society
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