Visual correction of orientation error for a mobile robot

Sherman Lang; Fu Yili; S. K. Tso

Visual correction of orientation error for a mobile robot

Sherman Lang^*
, Fu Yili
, S. K. Tso

^*Corresponding author for this work

City University of Hong Kong

Research output: Contribution to conference › Paper › peer-review

1 Scopus citations

Abstract

A mobile robot operating in a real world environment rarely achieves the theoretical accuracy in positioning that is possible despite the use of precise manufacturing and high resolution encoders in drive motors. This is due to internal errors to a small degree, but mainly caused by minor variations in floor flatness. A vision system is developed and implemented for a mobile robot to correct orientation errors. Straight line ceiling features are used for reference orientation during navigation. An efficient and robust algorithm is developed, tested extensively and implemented in a mobile robot for actual navigation experiments. Preliminary experimental results show that simple visual servoing with proportional control can already achieve significant improvements.

Original language	English
Pages	1328-1333
Number of pages	6
State	Published - 1999
Externally published	Yes
Event	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: 17 Oct 1999 → 21 Oct 1999

Conference

Conference	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
City	Kyongju, South Korea
Period	17/10/99 → 21/10/99

Cite this

@conference{474d17695ff54c1e8eed438ce587c50d,

title = "Visual correction of orientation error for a mobile robot",

abstract = "A mobile robot operating in a real world environment rarely achieves the theoretical accuracy in positioning that is possible despite the use of precise manufacturing and high resolution encoders in drive motors. This is due to internal errors to a small degree, but mainly caused by minor variations in floor flatness. A vision system is developed and implemented for a mobile robot to correct orientation errors. Straight line ceiling features are used for reference orientation during navigation. An efficient and robust algorithm is developed, tested extensively and implemented in a mobile robot for actual navigation experiments. Preliminary experimental results show that simple visual servoing with proportional control can already achieve significant improvements.",

author = "Sherman Lang and Fu Yili and Tso, \{S. K.\}",

year = "1999",

language = "英语",

pages = "1328--1333",

note = "1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' ; Conference date: 17-10-1999 Through 21-10-1999",

}

Visual correction of orientation error for a mobile robot. / Lang, Sherman; Yili, Fu; Tso, S. K.
1999. 1328-1333 Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - Visual correction of orientation error for a mobile robot

AU - Lang, Sherman

AU - Yili, Fu

AU - Tso, S. K.

PY - 1999

Y1 - 1999

N2 - A mobile robot operating in a real world environment rarely achieves the theoretical accuracy in positioning that is possible despite the use of precise manufacturing and high resolution encoders in drive motors. This is due to internal errors to a small degree, but mainly caused by minor variations in floor flatness. A vision system is developed and implemented for a mobile robot to correct orientation errors. Straight line ceiling features are used for reference orientation during navigation. An efficient and robust algorithm is developed, tested extensively and implemented in a mobile robot for actual navigation experiments. Preliminary experimental results show that simple visual servoing with proportional control can already achieve significant improvements.

AB - A mobile robot operating in a real world environment rarely achieves the theoretical accuracy in positioning that is possible despite the use of precise manufacturing and high resolution encoders in drive motors. This is due to internal errors to a small degree, but mainly caused by minor variations in floor flatness. A vision system is developed and implemented for a mobile robot to correct orientation errors. Straight line ceiling features are used for reference orientation during navigation. An efficient and robust algorithm is developed, tested extensively and implemented in a mobile robot for actual navigation experiments. Preliminary experimental results show that simple visual servoing with proportional control can already achieve significant improvements.

UR - https://www.scopus.com/pages/publications/0033310883

M3 - 论文

AN - SCOPUS:0033310883

SP - 1328

EP - 1333

T2 - 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'

Y2 - 17 October 1999 through 21 October 1999

ER -

Visual correction of orientation error for a mobile robot

Abstract

Conference

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