MOBILE ROBOT MOVEMENT CONTROL WITH USING OF VISUAL ODOMETER DATA

magazine 2013-1

MOBILE ROBOT MOVEMENT CONTROL WITH USING OF VISUAL ODOMETER DATA

E.A. Devayterikov

B.B. Mikhailov


Abstract

The paper presents results of experimental testing of visual odometer functioning as position feedback sensor within mobile robot control system. Visual odometry is a kind of coordinate measuring method using computer vision system and basing on shifts measurements of environment's key points. The information on key points shifting results from image sequence processing and analysis. Such system is capable of operating in unknown unstructured environment and doesn't depend on wheels slipping. The paper includes brief description of the implemented system and results of its testing.

Key words
Robot, experiment, environment, wheel, control.

Year 2013 Issue number 1 Consecutive issue number 1 Pages 22-26
UDC identifier: 621.865.8-5:004.93

 

 

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