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Robot Motion Planning - 24700 Image-based controller For line following Research: George Kantor

Robot Motion Planning - 24700 Image-based controller For line following Research: George Kantor Presentation: Sarjoun Skaff Carnegie Mellon University Wednesday 12 March 2003. Image-based line following Problem Description. Pose-Based. Image-based?

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Robot Motion Planning - 24700 Image-based controller For line following Research: George Kantor

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  1. Robot Motion Planning - 24700 Image-based controller For line following Research: George Kantor Presentation: Sarjoun Skaff Carnegie Mellon University Wednesday 12 March 2003 Image-based controller for line following

  2. Image-based line followingProblem Description Pose-Based Image-based? • Control is performed in image coordinates (u,v) not in workspace coordinates (x,y,θ) • Avoids mapping into workspace Line Following? • Capability that confers some autonomy to robots e.g. RHex navigates without user input • Building block for more complex maneuvers e.g. trajectory following θ v u Image-Based v u Image-based controller for line following

  3. Line Following Line Detection Unicycle Kinematics y projection of image plane u1 x u2 line to follow unicycle kynematics dynamics in vision coordinates vision coordinates Image-based controller for line following

  4. Image Representation D ω2 level sets of V(w) ω1 Image-based controller for line following

  5. Line Following Controller Controller u(ω) = -k1 ω2 - k2 L ω1 control v.f. w-space boundary drift v.f. switching curves smoothing sections Image-based controller for line following

  6. Experiments Walking Speed Jogging Speed Image-based controller for line following

  7. Appendix: Sagital Plane camera focal point image plane ground Image-based controller for line following

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