Paper Info
Title
Real-time vision-based navigation for nonholonomic mobile robots
Abstract
Mobile manipulators are one of the major pillars in the thriving field of service robotics, perhaps mainly due to the wide workspace provided by the mobile base. Exploitation of this vast workspace entails accurate positioning of the robot while overcoming several complexities, such as nonholonomic constraints and actuator limitations. In this paper, we analyze the integration of a vision and path-following controller for the accurate localization and tracking of known objects. Due to the broad workspace of mobile manipulators, the improved repeatability of the mobile base positioning can significantly improve overall system performance, especially near the robot's workstation. Our method provides an accurate synchronization and real-time fusion of data that together with the closed-form solution of the given path-following controller manages to accurately navigate the robot to perform a gripping task. The achieved repeatability of the system is below 3 cm, which is demonstrated by experimental results.
Year
DOI
Venue
2016
10.1109/COASE.2016.7743449
2016 IEEE International Conference on Automation Science and Engineering (CASE)
Keywords
Field
DocType
real-time vision-based navigation,nonholonomic mobile robots,mobile manipulators,service robotics,path-following controller,mobile base positioning,robot workstation,real-time data fusion,gripping task,actuator limitations,nonholonomic constraints
Robot control,Workspace,Robot kinematics,Control engineering,Engineering,Mobile robot navigation,Robot,Nonholonomic system,Mobile robot,Mobile manipulator
Conference
ISBN
Citations 
PageRank 
978-1-5090-2410-0
2
0.40
References 
Authors
11
4
Name
Order
Citations
PageRank
Mohammad M. Aref1136.66
Reza Oftadeh2194.80
Reza Ghabcheloo37211.82
Jouni Mattila46920.68