Biologically inspired turn control for autonomous mobile robots

Abstract:

An exportable and robust system for turn control using only camera images is proposed for path execution in robot navigation. Robot motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames in the image sequence. This information is used to compute the instantaneous rotation angle. Finally, control loop is closed correcting robot displacements when it is requested for a turn command. The proposed system has been successfully tested on the four-legged Sony Aibo robot. © 2011 The authors and IOS Press. All rights reserved.

Año de publicación:

2011

Keywords:

• Robot navigation
• Turn control
• Path execution
• Human motion
• SURF descriptor

Fuente:

scopus