Biologically inspired turn control for autonomous mobile robots

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RECERCAT Home > Universitat Politècnica de Catalunya > Documents de recerca > View document

To access the full text documents, please follow this link: http://hdl.handle.net/2117/13831

dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor	Universitat Politècnica de Catalunya. GREC - Grup de Recerca en Enginyeria del Coneixement
dc.contributor.author	Perez-Sala, Xavier
dc.contributor.author	Angulo Bahón, Cecilio
dc.contributor.author	Escalera, Sergio
dc.date	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.citation	978-1-60750-841-0
dc.identifier.citation	10.3233/978-1-60750-842-7-189
dc.identifier.uri	http://hdl.handle.net/2117/13831
dc.language.iso	eng
dc.publisher	IOS Press
dc.relation	http://www.booksonline.iospress.nl/Content/View.aspx?piid=23001
dc.rights	info:eu-repo/semantics/openAccess
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	Robust control
dc.subject	Autonomous robots
dc.subject	Robots--Motion
dc.subject	Robòtica -- Automatització -- Innovacions tecnològiques
dc.subject	Robots mòbils
dc.subject	Robots -- Moviment
dc.title	Biologically inspired turn control for autonomous mobile robots
dc.type	info:eu-repo/semantics/submittedVersion
dc.type	info:eu-repo/semantics/conferenceObject
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.description.abstract	Peer Reviewed

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