Guidance of a mobile robot using an array of static cameras located in the environment |
| |
Authors: | Ignacio Fernández Manuel Mazo José L Lázaro Daniel Pizarro Enrique Santiso Pedro Martín Cristina Losada |
| |
Affiliation: | (1) Electronics Department, University of Alcalá, Campus Universitario s/n, Alcalá de Henares, 28805 Madrid, Spain |
| |
Abstract: | This paper presents a new proposal for positioning and guiding mobile robots in indoor environments. The proposal is based
on the information provided by static cameras located in the movement environment. This proposal falls within the scope of
what are known as intelligent environments; in this case, the environment is provided with cameras that, once calibrated,
allow the position of the robots to be obtained. Based on this information, control orders for the robots can be generated
using a radio frequency link. In order to facilitate identification of the robots, even under extremely adverse ambient lighting
conditions, a beacon consisting of four circular elements constructed from infrared diodes is mounted on board the robots.
In order to identify the beacon, an edge detection process is carried out. This is followed by a process that, based on the
algebraic distance, obtains the estimated ellipses associated with each element of the beacon. Once the beacon has been identified,
the coordinates of the centroids for the elements that make up the beacon are obtained on the various image planes. Based
on these coordinates, an algorithm is proposed that takes into account the standard deviation of the error produced in the
various cameras in ascertaining the coordinates of the beacon’s elements. An odometric system is also used in guidance that,
in conjunction with a Kalman Filter, allows the position of the robot to be estimated during the time intervals required to
process the visual information provided by the cameras.
|
| |
Keywords: | Array of cameras Intelligent environments Mobile robot guidance Infrared beacons |
本文献已被 SpringerLink 等数据库收录! |
|