An Effective Localization Method for Robot Navigation Through Combined Encoders Positioning and Retiming Visual Control

• Autorzy: Jallouli M. , Amouri L. , Derbel N.
• Języki publikacji: EN

Abstrakty

EN

The paper presents an optimal mobile robot localization method through encoders' measurements and absolute localization using webcam data. This technique has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account Kinematic constraints. The proposed method is a cheap technique, which deals with the problem of robot initial position as the visual system provides the origin absolute coordinates related to the reference system. First, we have developed an interface, which ensures the real-time localization of the mini robot Khepera II while tracking a virtual moving target. Secondly, we have carried out experimentations of both the relative localization method, which determines the speed values of each driving wheel, and absolute localization using webcam data, which determines the robot start position. Next, a correction of the mobile robot position has been realized by retiming points using webcam measures. The obtained results are compared and discussed through different trajectories.

Słowa kluczowe

EN

localization; encoders' measurements; fuzzy controller; webcam data; segmentation; retiming method

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2009
• Tom: Vol. 3, No. 2
• Strony: 15--23
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Jallouli M.

autor

Amouri L.

autor

Derbel N.

• Research unit on Intelligent Control, design and Optimisation of complex Systems (ICOS) University of Sfax, Sfax Engineering School, BP W, 3038 Sfax, Tunisia. Phone: [phone], Fax. [phone],

Bibliografia

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