On Latencies and Noise Effects in Vision-Based Control of Mobile Robots

被引：1
|
作者：
Aref, Mohammad M. [1 ]
Vihonen, Juho [1 ]
Ghabcheloo, Reza [1 ]
Mattila, Jouni [1 ]
机构：
[1] Tampere Univ Technol, FIN-33101 Tampere, Finland
来源：
ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS | 2018年 / 49卷
基金：
芬兰科学院;
关键词：
VISUAL NAVIGATION;
D O I：
10.1007/978-3-319-61276-8_22
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We study the effects of variable latencies and noise-effects in vision based navigation. Based on the observations, we adapt a new robust estimation solution that is simple to integrate into a path-following controller and shown to provide a smoothed, high-bandwidth feedback for real-time control of a mobile robot. The strong dependency of steering oscillations originating from the noises and inaccuracies of the robot's pose estimates is highlighted. The system is capable of positioning the mobile manipulator's gripper in the vicinity of a target only by navigation of its nonholonomic mobile base.
引用
收藏
页码：191 / 199
页数：9
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