Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739805
Jian Yang, Hesheng Wang, Weidong Chen, Kang Li
This paper proposes a time and jerk optimal trajectory planning method to find an efficient and sufficiently smooth trajectory. The objective function of the proposed method consists of two parts: the execution time and the smoothness of the trajectory in the joint space. The latter part enables one to get a smoother trajectory and reduce the tracking error. Moreover, the kinematic constraints of the robot are also taken into consideration by setting boundary on the absolute value of kinematical constraints. A newly devised cubic spline is presented to ensure the starting and ending values of the velocity and acceleration controllable without requiring extra points. The method is tested on an EAST Tokamak inspection robot.
{"title":"Time-jerk optimal trajectory planning for robotic manipulators","authors":"Jian Yang, Hesheng Wang, Weidong Chen, Kang Li","doi":"10.1109/ROBIO.2013.6739805","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739805","url":null,"abstract":"This paper proposes a time and jerk optimal trajectory planning method to find an efficient and sufficiently smooth trajectory. The objective function of the proposed method consists of two parts: the execution time and the smoothness of the trajectory in the joint space. The latter part enables one to get a smoother trajectory and reduce the tracking error. Moreover, the kinematic constraints of the robot are also taken into consideration by setting boundary on the absolute value of kinematical constraints. A newly devised cubic spline is presented to ensure the starting and ending values of the velocity and acceleration controllable without requiring extra points. The method is tested on an EAST Tokamak inspection robot.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132938601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739591
Lixia Deng, Xin Ma, J. Gu, Yibin Li
In this paper, a novel algorithm to solve multi-robot formation path planning problem is proposed. A combination of the leader-follower and improved poly-clonal artificial immune algorithm is used to derive the formation architecture. The formation of multi-robot is maintained through controlling the distance and angle between leader and followers. Robots reach the desired positions and avoid obstacles with improved poly-clonal artificial immune algorithm. Artificial immune network has been widely used in obstacles avoidance with the strong searching ability and learning ability. Improved poly-clonal artificial immune algorithm increases the diversity of antibodies. Concentration of every antibody is computed based on the algorithm. Only the antibody with the highest concentration is selected to act on robot. Meanwhile, formation control system changes the leader temporarily when the original followers encounter with obstacles. Extensive experiments show that the proposed algorithm effectively maintains the formation and successfully avoids obstacles. Simulations validate the effectiveness and stability of the proposed algorithm.
{"title":"Planning multi-robot formation with improved poly-clonal artificial immune algorithm","authors":"Lixia Deng, Xin Ma, J. Gu, Yibin Li","doi":"10.1109/ROBIO.2013.6739591","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739591","url":null,"abstract":"In this paper, a novel algorithm to solve multi-robot formation path planning problem is proposed. A combination of the leader-follower and improved poly-clonal artificial immune algorithm is used to derive the formation architecture. The formation of multi-robot is maintained through controlling the distance and angle between leader and followers. Robots reach the desired positions and avoid obstacles with improved poly-clonal artificial immune algorithm. Artificial immune network has been widely used in obstacles avoidance with the strong searching ability and learning ability. Improved poly-clonal artificial immune algorithm increases the diversity of antibodies. Concentration of every antibody is computed based on the algorithm. Only the antibody with the highest concentration is selected to act on robot. Meanwhile, formation control system changes the leader temporarily when the original followers encounter with obstacles. Extensive experiments show that the proposed algorithm effectively maintains the formation and successfully avoids obstacles. Simulations validate the effectiveness and stability of the proposed algorithm.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133267322","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739500
G. A. G. Ricardez, Akihiko Yamaguchi, J. Takamatsu, T. Ogasawara
Human safety plays a crucial role for the symbiosis between humans and robots. Moreover, it is also important to maintain the robot's efficiency while keeping the human unharmed. With this purpose, we previously developed Asymmetric Velocity Moderation (AVM) as a reactive strategy for human safety. Nevertheless, this original AVM only considers the end-effector's movement. This may lead to overrestrictions of the robot speed when the human is very close and to underestimate human safety by assuming the end-effector is the main source of danger. Therefore, this paper extends AVM by using restrictions based on the velocities of all points on the robot and their corresponding minimum distances to the whole human body. By eliminating overrestrictions without undermining human safety and by considering the whole robot, a more efficient humansafe robot behavior can be obtained. The method proposed in this paper consists of calculating independent restrictions for every point on the robot and choosing the firmest restriction to limit the robot velocity. Simulation experiments using a virtual environment with a human model and a human-sized humanoid robot were performed for the validation of the proposed method, and its efficiency was evaluated using the task completion time of the robot.
{"title":"Extended Asymmetric Velocity Moderation: A reactive strategy for human-safe robot control","authors":"G. A. G. Ricardez, Akihiko Yamaguchi, J. Takamatsu, T. Ogasawara","doi":"10.1109/ROBIO.2013.6739500","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739500","url":null,"abstract":"Human safety plays a crucial role for the symbiosis between humans and robots. Moreover, it is also important to maintain the robot's efficiency while keeping the human unharmed. With this purpose, we previously developed Asymmetric Velocity Moderation (AVM) as a reactive strategy for human safety. Nevertheless, this original AVM only considers the end-effector's movement. This may lead to overrestrictions of the robot speed when the human is very close and to underestimate human safety by assuming the end-effector is the main source of danger. Therefore, this paper extends AVM by using restrictions based on the velocities of all points on the robot and their corresponding minimum distances to the whole human body. By eliminating overrestrictions without undermining human safety and by considering the whole robot, a more efficient humansafe robot behavior can be obtained. The method proposed in this paper consists of calculating independent restrictions for every point on the robot and choosing the firmest restriction to limit the robot velocity. Simulation experiments using a virtual environment with a human model and a human-sized humanoid robot were performed for the validation of the proposed method, and its efficiency was evaluated using the task completion time of the robot.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123173488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A submersible unmanned aerial vehicle (UAV) is proposed firstly, which is capable of operating in both air and water. One of the outstanding characteristics of the UAV is that the air-water transition imitates that of a gannet, i.e., plunge-diving. In this paper, the plunge-diving process of this UAV is simplified as a water-entry problem with a certain initial velocity, and the impact force is calculated by the method of the computational fluid dynamics (CFD). The Volume of Fluid is coupled with the 3-D Navier-Stokes equations to establish the model of the flow field, and the equations are solved in Fluent 6.3. The phase distribution and the pressure distribution during water-entry are presented and analyzed. Furthermore, the effects of the dropping height and the wing's sweptback angle on the impact force are investigated and discussed.
{"title":"Computational simulation of a submersible unmanned aerial vehicle impacting with water","authors":"Xingbang Yang, Jianhong Liang, Tianmiao Wang, Guocai Yao, Wendi Zhao, Yucheng Zhang, Chenhao Han","doi":"10.1109/ROBIO.2013.6739617","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739617","url":null,"abstract":"A submersible unmanned aerial vehicle (UAV) is proposed firstly, which is capable of operating in both air and water. One of the outstanding characteristics of the UAV is that the air-water transition imitates that of a gannet, i.e., plunge-diving. In this paper, the plunge-diving process of this UAV is simplified as a water-entry problem with a certain initial velocity, and the impact force is calculated by the method of the computational fluid dynamics (CFD). The Volume of Fluid is coupled with the 3-D Navier-Stokes equations to establish the model of the flow field, and the equations are solved in Fluent 6.3. The phase distribution and the pressure distribution during water-entry are presented and analyzed. Furthermore, the effects of the dropping height and the wing's sweptback angle on the impact force are investigated and discussed.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127807995","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Totally different from conventional rigid robot, bioinspired soft robot has characteristics of deformable body, flexibility, continuous changeability and high active adaptability. It has become a new evolution in robotics. In this context, a flexible pneumatic robotic actuator FPA was proposed to act as both driver and executor for soft robot configration. The structure, principle and mathematic model of FPA are described. Based on FPA, a series of soft joints, such as soft bending joint, link-embedded soft bending joint, hybrid bending joint, torsion joint, spherical joint and side-sway joint, are developed. Then soft robots based FPA are reported, including climbing robot, cucumber gripper, end-effector for cone, multi-fingered dexterous hand and hand rehabilitator. All the structures, working principles and experiments of the soft joints and robots are elaborated.
{"title":"Flexible pneumatic robotic actuator FPA and its applications","authors":"G. Bao, Shibo Cai, Zhiheng Wang, Sheng Xu, Pengcheng Huang, Qinghua Yang, Fang Xu, Libin Zhang","doi":"10.1109/ROBIO.2013.6739571","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739571","url":null,"abstract":"Totally different from conventional rigid robot, bioinspired soft robot has characteristics of deformable body, flexibility, continuous changeability and high active adaptability. It has become a new evolution in robotics. In this context, a flexible pneumatic robotic actuator FPA was proposed to act as both driver and executor for soft robot configration. The structure, principle and mathematic model of FPA are described. Based on FPA, a series of soft joints, such as soft bending joint, link-embedded soft bending joint, hybrid bending joint, torsion joint, spherical joint and side-sway joint, are developed. Then soft robots based FPA are reported, including climbing robot, cucumber gripper, end-effector for cone, multi-fingered dexterous hand and hand rehabilitator. All the structures, working principles and experiments of the soft joints and robots are elaborated.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124181190","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739426
Xin Yi, Anmin Zhu
Online path planning for multi-robots in complicated and dynamic environments is a difficult and hot issue in the field of robotics. Many traditional path planning methods cannot meet the requirements of online and real-time processing. Neuro-dynamics-based method has an aptitude for online and real-time path planning in complicated and dynamic environments. However, this method still has shortcomings. In this paper, an improved neuro-dynamics-based method is proposed with advantages. It has conducted efficient performance and easier realization with much less computational time complexity. Meanwhile, by entering “repulsion” mechanism, the improved method is capable of fair allocation and load balancing on the limited resources. Both simulated experiments and theoretical analysis demonstrate the feasibility and availability of the improved method in the paper.
{"title":"An improved neuro-dynamics-based approach to online path planning for multi-robots in unknown dynamic environments","authors":"Xin Yi, Anmin Zhu","doi":"10.1109/ROBIO.2013.6739426","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739426","url":null,"abstract":"Online path planning for multi-robots in complicated and dynamic environments is a difficult and hot issue in the field of robotics. Many traditional path planning methods cannot meet the requirements of online and real-time processing. Neuro-dynamics-based method has an aptitude for online and real-time path planning in complicated and dynamic environments. However, this method still has shortcomings. In this paper, an improved neuro-dynamics-based method is proposed with advantages. It has conducted efficient performance and easier realization with much less computational time complexity. Meanwhile, by entering “repulsion” mechanism, the improved method is capable of fair allocation and load balancing on the limited resources. Both simulated experiments and theoretical analysis demonstrate the feasibility and availability of the improved method in the paper.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124347960","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739608
Baolong Zhao, Zehui Li, Mengyuan Liu, Wen Cao, Hong Liu
With the growing demand for security, video surveillance is becoming increasingly important. And persistence is a key indicator for intelligent surveillance systems which means the ability to fit 24 hoursall-weather work. While the performances of traditional surveillance systems are limited since they can only gain either visible images during the day or intensity images in poor illumination conditions at night. To solve this problem, the integration of images from multiple sensors is becoming a new way. This paper utilize this measure to realize a whole day moving object detection system. First, infrared and visible images are integrated using Region saliency detection (RSD) method with different fusion strategies applied for salient and non-salient regions. In the next target detection stage, fused images are adopted instead of directly using images from various sensors for time efficiency. And background subtraction method is employed afterwards using Mixture of Gaussian (MOG). Experiments in several kinds of environments give promising results and show that this model is robust for whole-day surveillance.
{"title":"Infrared and visible imagery fusion based on region saliency detection for 24-hour-surveillance systems","authors":"Baolong Zhao, Zehui Li, Mengyuan Liu, Wen Cao, Hong Liu","doi":"10.1109/ROBIO.2013.6739608","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739608","url":null,"abstract":"With the growing demand for security, video surveillance is becoming increasingly important. And persistence is a key indicator for intelligent surveillance systems which means the ability to fit 24 hoursall-weather work. While the performances of traditional surveillance systems are limited since they can only gain either visible images during the day or intensity images in poor illumination conditions at night. To solve this problem, the integration of images from multiple sensors is becoming a new way. This paper utilize this measure to realize a whole day moving object detection system. First, infrared and visible images are integrated using Region saliency detection (RSD) method with different fusion strategies applied for salient and non-salient regions. In the next target detection stage, fused images are adopted instead of directly using images from various sensors for time efficiency. And background subtraction method is employed afterwards using Mixture of Gaussian (MOG). Experiments in several kinds of environments give promising results and show that this model is robust for whole-day surveillance.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124556055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739774
Huaizhu Li, Y. Guan, Shizhong Chen, Pinhong Wu, Wenqiang Wu, Xin Chen, Hong Zhang
Junction surface plays an important role in the performance of a modular robot in terms of positioning error and system stiffness. In this paper, junction surfaces of robotic modules are modeled and analyzed based on virtual medium. The asperity of a junction surface is first made equivalent to an isotropic virtual medium layer, and the thick surface contact fractal theory is combined with the contact mechanics theory. The analytical dynamic model is thus established, by which the coupling relationship between the asperities of junction surface is successfully simulated. The fractal dimension and the scale coefficient of the equivalent junction surfaces are obtained by surface profilometer and power spectrum analysis, and the dynamic characteristic parameters of the virtual medium are calculated. Comparison result shows that the theoretical and measured modal shapes basically match, and the relative errors between the theory natural frequency and the test natural frequency of every order are less than 7.3%, which verifies the effectiveness of the dynamic model of the module junction surface.
{"title":"Dynamic modeling and analysis of junction surfaces of robotic modules","authors":"Huaizhu Li, Y. Guan, Shizhong Chen, Pinhong Wu, Wenqiang Wu, Xin Chen, Hong Zhang","doi":"10.1109/ROBIO.2013.6739774","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739774","url":null,"abstract":"Junction surface plays an important role in the performance of a modular robot in terms of positioning error and system stiffness. In this paper, junction surfaces of robotic modules are modeled and analyzed based on virtual medium. The asperity of a junction surface is first made equivalent to an isotropic virtual medium layer, and the thick surface contact fractal theory is combined with the contact mechanics theory. The analytical dynamic model is thus established, by which the coupling relationship between the asperities of junction surface is successfully simulated. The fractal dimension and the scale coefficient of the equivalent junction surfaces are obtained by surface profilometer and power spectrum analysis, and the dynamic characteristic parameters of the virtual medium are calculated. Comparison result shows that the theoretical and measured modal shapes basically match, and the relative errors between the theory natural frequency and the test natural frequency of every order are less than 7.3%, which verifies the effectiveness of the dynamic model of the module junction surface.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116845600","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739631
Meng-Li Cao, Qing-Hao Meng, Xing-Wang Wang, Bing Luo, M. Zeng, Wei Li
This paper presents an asynchronous method for localizing multiple odor sources one by one. We use adapted ant colony optimization algorithm and flux divergence based idea for plume tracing and source declaration, respectively. By selective olfaction, we mean that the concentration sensors are halted when the robots are searching in the declared areas. Thus, the robots can successfully jump out of the local concentration maxima in declared areas, and converge to other concentration maxima that may contain real sources. It is unnecessary to employ more robots to localize more simultaneously releasing odor sources in our method. Simulation results show the proposed method can localize multiple odor sources in a large ventilated outdoor environment with considerably high accuracy.
{"title":"Localization of multiple odor sources via selective olfaction and adapted ant colony optimization algorithm","authors":"Meng-Li Cao, Qing-Hao Meng, Xing-Wang Wang, Bing Luo, M. Zeng, Wei Li","doi":"10.1109/ROBIO.2013.6739631","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739631","url":null,"abstract":"This paper presents an asynchronous method for localizing multiple odor sources one by one. We use adapted ant colony optimization algorithm and flux divergence based idea for plume tracing and source declaration, respectively. By selective olfaction, we mean that the concentration sensors are halted when the robots are searching in the declared areas. Thus, the robots can successfully jump out of the local concentration maxima in declared areas, and converge to other concentration maxima that may contain real sources. It is unnecessary to employ more robots to localize more simultaneously releasing odor sources in our method. Simulation results show the proposed method can localize multiple odor sources in a large ventilated outdoor environment with considerably high accuracy.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117282554","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739756
J. Shan, Xiaogang Wang
This paper presents the experimental study on the quantization error of stereo vision camera with the help of VICON motion capture system and its application to vision based navigation for a mobile robot. An experimental system is developed to obtain the quantization measurement error of stereo vision camera in different depth. The measurement error model is utilized to help to design the extended Kalman filter to fuse the information from stereo vision camera and optical encoder equipped on the mobile robot platform. The VICON motion capture system is also employed to justify the accuracy of vision based navigation algorithm. Experimental results demonstrate the effectiveness of measurement error model in improving the navigation accuracy.
{"title":"Experimental study on mobile robot navigation using stereo vision","authors":"J. Shan, Xiaogang Wang","doi":"10.1109/ROBIO.2013.6739756","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739756","url":null,"abstract":"This paper presents the experimental study on the quantization error of stereo vision camera with the help of VICON motion capture system and its application to vision based navigation for a mobile robot. An experimental system is developed to obtain the quantization measurement error of stereo vision camera in different depth. The measurement error model is utilized to help to design the extended Kalman filter to fuse the information from stereo vision camera and optical encoder equipped on the mobile robot platform. The VICON motion capture system is also employed to justify the accuracy of vision based navigation algorithm. Experimental results demonstrate the effectiveness of measurement error model in improving the navigation accuracy.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116432669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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