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Real-Time Vision-Based Navigation for Nonholonomic Mobile Robots

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publication2016 IEEE International Conference on Automation Science and Engineering (CASE)
PublisherIEEE
Number of pages8
ISBN (Electronic)978-1-5090-2409-4
DOIs
Publication statusPublished - 17 Nov 2016
Publication typeA4 Article in a conference publication
EventIEEE International Conference on Automation Science and Engineering -
Duration: 1 Jan 1900 → …

Publication series

NameIEEE International Conference on Automation Science and Engineering
ISSN (Electronic)2161-8089

Conference

ConferenceIEEE International Conference on Automation Science and Engineering
Period1/01/00 → …

Abstract

Mobile manipulators are one of the major pillars
in the thriving field of service robotics, perhaps mainly due to
the wide workspace provided by the mobile base. Exploitation
of this vast workspace entails accurate positioning of the robot
while overcoming several complexities, such as nonholonomic
constraints and actuator limitations. In this paper, we analyze
the integration of a vision and path-following controller for
the accurate localization and tracking of known objects. Due
to the broad workspace of mobile manipulators, the improved
repeatability of the mobile base positioning can significantly
improve overall system performance, especially near the robot’s
workstation. Our method provides an accurate synchronization
and real-time fusion of data that together with the closed-
form solution of the given path-following controller manages
to accurately navigate the robot to perform a gripping task.
The achieved repeatability of the system is below 3 cm, which
is demonstrated by experimental results.

Keywords

  • mobile manipulation, visual servoing, Mobile robot, motion control

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