Nonlinear control applied to team formation based on omnidirectional vision

被引：2
|
作者：
Gava, Christiano Couto [1 ]
Vassallo, Raquel Frizera [1 ]
Carelli, Ricardo [2 ]
Bastos Filho, Teodiano Freire [1 ]
机构：
[1] Univ Fed Espirito Santo, Dept Elect Engn, Av Fernando Ferrari,514, Vitoria, ES, Brazil
[2] Natl Univ San Juan, Inst Automat, San Juan, Argentina
来源：
2006 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOLS 1-7 | 2006年
关键词：
D O I：
10.1109/ISIE.2006.295622
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work a mobile robot cooperation strategy based on computational vision is presented. Such strategy can be applied to a mobile robot team formed by simple and cheap robots and a leader robot with more computational power. The leader has an onmidirectional visual system and uses color segmentation to obtain the pose of the follower robots. This visual information is used as visual feedback to a nonlinear stable controller that manages team formation. Simulations and tests were run and current results are encouraging.
引用
收藏
页码：372 / +
页数：2
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