Control for Navigation of a Mobile Robot Using Monocular Data: Local Model Predictive Control for Navigation of a Wheeled Mobile Robot Using Monocular Information - Softcover

Pacheco, Lluís; Luo, Ningsu; Cufí, Xavier

Softcover

ISBN 10: 3838360613 ISBN 13: 9783838360614

Verlag: LAP LAMBERT Academic Publishing, 2010

Inhaltsangabe

This book introduces a new strategy for mobile robot navigation. The complete navigation strategy is based on local landmark detection. However, the work developed just shows the local navigation results. In this context, local artificial potential fields are used as a way to attract the mobile robot towards a local goal that can act as a passage point and a featured landmark. In order to acomplish with the desired objective, simple perception system and reactive control behaviours were implemented and tested. Concretely, a single on-robot camera system was used to infer the closer robot environment where free aproaching path was computed. Moreover, the proposed control strategy is based on on-line model predictive control techniques where only short prediction horizons are considered for dealing with reactive behaviours and dynamic environments.

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Über die Autorin bzw. den Autor

Lluís Pacheco Valls, Finished his Phd studies at the Univesity of Girona. Actually, he is professor assistant at the same university. The areas of interest include control, perception systems and robotics.

Details zur Ausgabe

• Verlag: LAP LAMBERT Academic Publishing
• Erscheinungsdatum: 2010
• Sprache: Englisch
• ISBN 10: 3838360613
• ISBN 13: 9783838360614
• Einband: Taschenbuch
• Anzahl der Seiten: 196
• Kontakt zum Hersteller: Nicht verfügbar
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