Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1007/978-3-319-61276-8_22 | ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS |
DocType | Volume | ISSN |
Conference | 49 | 2211-0984 |
Citations | PageRank | References |
1 | 0.41 | 4 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mohammad M. Aref | 1 | 13 | 6.66 |
| Juho Vihonen | 2 | 25 | 7.49 |
| Reza Ghabcheloo | 3 | 72 | 11.82 |
| Jouni Mattila | 4 | 69 | 20.68 |