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Visual servoing of a car-like vehicle - an application of omnidirectional vision

By Kane Usher, Peter Ridley and Peter Corke

Abstract

In this paper, we develop the switching controller presented by Lee et al. for the pose control of a car-like vehicle, to allow the use of an omnidirectional vision sensor. To this end we incorporate an extension to a hypothesis on the navigation behaviour of the desert ant, cataglyphis bicolor, which leads to a correspondence free landmark based vision technique. The method we present allows positioning to a learnt location based on feature bearing angle and range discrepancies between the robot's current view of the environment, and that at a learnt location. We present simulations and experimental results, the latter obtained using our outdoor mobile platform

Topics: 090600 ELECTRICAL AND ELECTRONIC ENGINEERING, ant navigation behaviour, position control, feature bearing angle, omnidirectional vision sensor, correspondence free landmark based vision technique, car-like vehicle pose control, car-like vehicle visual servoing, cataglyphis bicolor, switching, computer vision, mobile robots, road vehicles, computerised navigation
Publisher: IEEE
Year: 2003
DOI identifier: 10.1109/ROBOT.2003.1242263
OAI identifier: oai:eprints.qut.edu.au:33862

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