PREDICTIVE CONTROL BY LOCAL VISUAL DATA - Mobile Robot Model Predictive Control Strategies Using Local Visual Information and Odometer Data

Lluis Pacheco, Ningsu Luo

2007

Abstract

Nowadays, the local visual perception research, applied to autonomous mobile robots, has succeeded in some important objectives, such as feasible obstacle detection and structure knowledge. This work relates the on-robot visual perception and odometer system information with the nonlinear mobile robot control system, consisting in a differential driven robot with a free rotating wheel. The description of the proposed algorithms can be considered as an interesting aspect of this report. It is developed an easily portable methodology to plan the goal achievement by using the visual data as an available source of positions. Moreover, the dynamic interactions of the robotic system arise from the knowledge of a set of experimental robot models that allow the development of model predictive control strategies based on the mobile robot platform PRIM available in the Laboratory of Robotics and Computer Vision. The meaningful contribution is the use of the local visual information as an occupancy grid where a local trajectory approaches the robot to the final desired configuration, while avoiding obstacle collisions. Hence, the research is focused on the experimental aspects. Finally, conclusions on the overall work are drawn.

Paper Citation

in Harvard Style

Pacheco L. and Luo N. (2007). PREDICTIVE CONTROL BY LOCAL VISUAL DATA - Mobile Robot Model Predictive Control Strategies Using Local Visual Information and Odometer Data . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 259-266. DOI: 10.5220/0001638102590266

in Bibtex Style

@conference{icinco07,
author={Lluis Pacheco and Ningsu Luo},
title={PREDICTIVE CONTROL BY LOCAL VISUAL DATA - Mobile Robot Model Predictive Control Strategies Using Local Visual Information and Odometer Data},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={259-266},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001638102590266},
isbn={978-972-8865-83-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PREDICTIVE CONTROL BY LOCAL VISUAL DATA - Mobile Robot Model Predictive Control Strategies Using Local Visual Information and Odometer Data
SN - 978-972-8865-83-2
AU - Pacheco L.
AU - Luo N.
PY - 2007
SP - 259
EP - 266
DO - 10.5220/0001638102590266