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Proceedings Paper

Line-following using omnidirectional vision control
Author(s): Manoj P. Ghayalod; Ernest L. Hall; Fred W. Reckelhof; Bradley O. Matthews; Michael A. Ruthemeyer
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Paper Abstract

Mobile robotics is a broad field, and many mobile systems have been developed as forms of automated guided vehicle systems (AGVSs), on/off line teleoperator systems such as remotely piloted vehicles (RPVs), personal mobile robots, and experimental mobile robots. Navigation and motion control are the key elements required for safe, reliable, and accurate operation of the mobile unit. In this paper a technique for mobile robot navigation using a wide angle imaging system to follow a line is used. The sensed position information provides a basis for controlling the motion of mobile robot by comparing the current position to the desired position to determine range and bearing correction signals for the robot motor controllers. These positions are along a predetermined path. Ultrasonic sensors are also used to avoid obstacles.

Paper Details

Date Published: 6 August 1993
PDF: 10 pages
Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150203
Show Author Affiliations
Manoj P. Ghayalod, Univ. of Cincinnati (United States)
Ernest L. Hall, Univ. of Cincinnati (United States)
Fred W. Reckelhof, Univ. of Cincinnati (United States)
Bradley O. Matthews, Univ. of Cincinnati (United States)
Michael A. Ruthemeyer, Univ. of Cincinnati (United States)

Published in SPIE Proceedings Vol. 2056:
Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods
David P. Casasent, Editor(s)

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