Line-following using omnidirectional vision control

Manoj P. Ghayalod; Ernest L. Hall; Fred W. Reckelhof; Bradley O. Matthews; Michael A. Ruthemeyer

doi:10.1117/12.150203

6 August 1993 Line-following using omnidirectional vision control

Manoj P. Ghayalod, Ernest L. Hall, Fred W. Reckelhof, Bradley O. Matthews, Michael A. Ruthemeyer

Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993) https://doi.org/10.1117/12.150203
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

Mobile robotics is a broad field, and many mobile systems have been developed as forms of automated guided vehicle systems (AGVSs), on/off line teleoperator systems such as remotely piloted vehicles (RPVs), personal mobile robots, and experimental mobile robots. Navigation and motion control are the key elements required for safe, reliable, and accurate operation of the mobile unit. In this paper a technique for mobile robot navigation using a wide angle imaging system to follow a line is used. The sensed position information provides a basis for controlling the motion of mobile robot by comparing the current position to the desired position to determine range and bearing correction signals for the robot motor controllers. These positions are along a predetermined path. Ultrasonic sensors are also used to avoid obstacles.

Citation Download Citation

Manoj P. Ghayalod, Ernest L. Hall, Fred W. Reckelhof, Bradley O. Matthews, and Michael A. Ruthemeyer "Line-following using omnidirectional vision control", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); https://doi.org/10.1117/12.150203

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