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Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera

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Standard

Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera. / Ziaei, Z.; Oftadeh, R.; Mattila, J.

IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015. 2015. s. 261-268.

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Harvard

Ziaei, Z, Oftadeh, R & Mattila, J 2015, Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera. julkaisussa IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015. Sivut 261-268, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 1/01/00. https://doi.org/10.1109/AIM.2015.7222542

APA

Ziaei, Z., Oftadeh, R., & Mattila, J. (2015). Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera. teoksessa IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015 (Sivut 261-268) https://doi.org/10.1109/AIM.2015.7222542

Vancouver

Ziaei Z, Oftadeh R, Mattila J. Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera. julkaisussa IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015. 2015. s. 261-268 https://doi.org/10.1109/AIM.2015.7222542

Author

Ziaei, Z. ; Oftadeh, R. ; Mattila, J. / Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015. 2015. Sivut 261-268

Bibtex - Lataa

@inproceedings{34238230896944f2a67c50c7239ce939,
title = "Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera",
abstract = "In this paper, we extend our previous work to introduce a vision-based path coordination method for multiple mobile robots with four steering wheels to avoid mutual collisions, so that the generated paths are always in the visibility range of the overhead camera. The proposed algorithm generates the synchronized trajectories for all wheels belonging to each mobile robot, with respect to its inertial-frame, relying on only one calibrated camera. These synchronized trajectories reduce the complexity of the robot kinematic model to plan maximum allowable bounded driving and steering velocities for each mobile robot. The main contribution of the proposed method is coordinating the trajectories for multiple mobile robots to avoid intersection boundaries that are obtained by generated geometrical traces in real world coordinates. Our experimental results are presented to illustrate the efficiency of the proposed method for the path coordination of multiple mobile robots with four steering wheels to avoid mutual collision.",
keywords = "cameras, collision avoidance, mobile robots, robot kinematics, robot vision, steering systems, trajectory control, calibrated camera, multiple mobile robots, overhead camera, robot kinematic model, steering wheels, synchronized trajectories, vision-based path coordination, Cameras, Collision avoidance, Mobile robots, Robot kinematics, Trajectory, Wheels, Four steering wheels, Intersection region, Multiple mobile robots, Nonholonomic mobile robots, Path coordination, Steering and driving velocity, Vision-based method",
author = "Z. Ziaei and R. Oftadeh and J. Mattila",
year = "2015",
month = "7",
day = "1",
doi = "10.1109/AIM.2015.7222542",
language = "English",
isbn = "978-1-4673-9107-8",
pages = "261--268",
booktitle = "IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015",

}

RIS (suitable for import to EndNote) - Lataa

TY - GEN

T1 - Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera

AU - Ziaei, Z.

AU - Oftadeh, R.

AU - Mattila, J.

PY - 2015/7/1

Y1 - 2015/7/1

N2 - In this paper, we extend our previous work to introduce a vision-based path coordination method for multiple mobile robots with four steering wheels to avoid mutual collisions, so that the generated paths are always in the visibility range of the overhead camera. The proposed algorithm generates the synchronized trajectories for all wheels belonging to each mobile robot, with respect to its inertial-frame, relying on only one calibrated camera. These synchronized trajectories reduce the complexity of the robot kinematic model to plan maximum allowable bounded driving and steering velocities for each mobile robot. The main contribution of the proposed method is coordinating the trajectories for multiple mobile robots to avoid intersection boundaries that are obtained by generated geometrical traces in real world coordinates. Our experimental results are presented to illustrate the efficiency of the proposed method for the path coordination of multiple mobile robots with four steering wheels to avoid mutual collision.

AB - In this paper, we extend our previous work to introduce a vision-based path coordination method for multiple mobile robots with four steering wheels to avoid mutual collisions, so that the generated paths are always in the visibility range of the overhead camera. The proposed algorithm generates the synchronized trajectories for all wheels belonging to each mobile robot, with respect to its inertial-frame, relying on only one calibrated camera. These synchronized trajectories reduce the complexity of the robot kinematic model to plan maximum allowable bounded driving and steering velocities for each mobile robot. The main contribution of the proposed method is coordinating the trajectories for multiple mobile robots to avoid intersection boundaries that are obtained by generated geometrical traces in real world coordinates. Our experimental results are presented to illustrate the efficiency of the proposed method for the path coordination of multiple mobile robots with four steering wheels to avoid mutual collision.

KW - cameras

KW - collision avoidance

KW - mobile robots

KW - robot kinematics

KW - robot vision

KW - steering systems

KW - trajectory control

KW - calibrated camera

KW - multiple mobile robots

KW - overhead camera

KW - robot kinematic model

KW - steering wheels

KW - synchronized trajectories

KW - vision-based path coordination

KW - Cameras

KW - Collision avoidance

KW - Mobile robots

KW - Robot kinematics

KW - Trajectory

KW - Wheels

KW - Four steering wheels

KW - Intersection region

KW - Multiple mobile robots

KW - Nonholonomic mobile robots

KW - Path coordination

KW - Steering and driving velocity

KW - Vision-based method

U2 - 10.1109/AIM.2015.7222542

DO - 10.1109/AIM.2015.7222542

M3 - Conference contribution

SN - 978-1-4673-9107-8

SP - 261

EP - 268

BT - IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015

ER -