Visual world perception modeling and control of cooperative mobile robots

Amir Shirkhodaie

doi:10.1117/12.514711

30 September 2003 Visual world perception modeling and control of cooperative mobile robots

Amir Shirkhodaie

Proceedings Volume 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision; (2003) https://doi.org/10.1117/12.514711
Event: Photonics Technologies for Robotics, Automation, and Manufacturing, 2003, Providence, RI, United States

Abstract

There has been a great interest in the recent years in visual coordination and target tracking for mobile robots cooperating in unstructured environments. This paper describes visual servo control techniques suitable for intelligent task planning of cooperative robots operating in unstructured environment. In this paper, we have considered a team of semi-autonomous robots controlled by a remote supervisory control system. We have presented an algorithm for visual position tracking of individual cooperative robots within their working environment. Initially, we present a technique suitable for visual servoing of a robot toward its landmark targets. Secondly, we present an image-processing technique that utilizes images from a remote surveillance camera for localization of the robots within the operational environment. In this algorithm, the surveillance camera can be either stationary or mobile. The supervisor control system keeps tracks of relative locations of individual robots and utilizes relative coordinate information of the robots to plan their cooperative activities. We presented some results of this research effort that illustrates effectiveness of the proposed algorithms for cooperative robotic systems visual team working and target tracking.

Citation Download Citation

Amir Shirkhodaie "Visual world perception modeling and control of cooperative mobile robots", Proc. SPIE 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, (30 September 2003); https://doi.org/10.1117/12.514711

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KEYWORDS

Robots

Visualization

Cameras

Control systems

Mobile robots

Optical tracking

Detection and tracking algorithms

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