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Biologically inspired turn control for autonomous mobile robots
dc.contributor.author | Perez-Sala, Xavier |
dc.contributor.author | Angulo Bahón, Cecilio |
dc.contributor.author | Escalera, Sergio |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2011-11-09T11:26:10Z |
dc.date.available | 2011-11-09T11:26:10Z |
dc.date.created | 2011 |
dc.date.issued | 2011 |
dc.identifier.citation | Perez-Sala, X.; Angulo, C.; Escalera, S. Biologically inspired turn control for autonomous mobile robots. A: International Conference of the Catalan Association for Artificial Intelligence. "14th International Conference of the Catalan Association for Artificial Intelligence". Lleida: IOS Press, 2011, p. 189-198. |
dc.identifier.isbn | 978-1-60750-841-0 |
dc.identifier.uri | http://hdl.handle.net/2117/13831 |
dc.description.abstract | An exportable and robust system for turn control using only camera images is proposed for path execution in robot navigation. Robot motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames in the image sequence. This information is used to compute the instantaneous rotation angle. Finally, control loop is closed correcting robot displacements when it is requested for a turn command. The proposed system has been successfully tested on the four-legged Sony Aibo robot. |
dc.format.extent | 10 p. |
dc.language.iso | eng |
dc.publisher | IOS Press |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial::Sistemes experts |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robust control |
dc.subject.lcsh | Autonomous robots |
dc.subject.lcsh | Robots--Motion |
dc.title | Biologically inspired turn control for autonomous mobile robots |
dc.type | Conference report |
dc.subject.lemac | Robòtica -- Automatització -- Innovacions tecnològiques |
dc.subject.lemac | Robots mòbils |
dc.subject.lemac | Robots -- Moviment |
dc.contributor.group | Universitat Politècnica de Catalunya. GREC - Grup de Recerca en Enginyeria del Coneixement |
dc.identifier.doi | 10.3233/978-1-60750-842-7-189 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://www.booksonline.iospress.nl/Content/View.aspx?piid=23001 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 8601929 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Perez-Sala, X.; Angulo, C.; Escalera, S. |
local.citation.contributor | International Conference of the Catalan Association for Artificial Intelligence |
local.citation.pubplace | Lleida |
local.citation.publicationName | 14th International Conference of the Catalan Association for Artificial Intelligence |
local.citation.startingPage | 189 |
local.citation.endingPage | 198 |