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On Latencies and Noise Effects in Vision-Based Control of Mobile Robots

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Advances in Service and Industrial Robotics (RAAD 2017)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 49))

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Abstract

We study the effects of variable latencies and noise-effects in vision based navigation. Based on the observations, we adapt a new robust estimation solution that is simple to integrate into a path-following controller and shown to provide a smoothed, high-bandwidth feedback for real-time control of a mobile robot. The strong dependency of steering oscillations originating from the noises and inaccuracies of the robot’s pose estimates is highlighted. The system is capable of positioning the mobile manipulator’s gripper in the vicinity of a target only by navigation of its nonholonomic mobile base.

M.M. Aref—Laboratory of Automation and Hydraulics Engineering.

J. Vihonen—Laboratory of Signal Processing.

This work is supported by the Academy of Finland under the project “Integrated Multimodal Sensing of 3D Environment for Intelligent Manipulators,” grant 286260.

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Notes

  1. 1.

    http://robatronics.com/2017/01/10/vision-based-motion-control/.

  2. 2.

    https://wiki.gnome.org/action/show/Projects/Aravis.

  3. 3.

    http://virtual.vtt.fi/virtual/proj2/multimedia/.

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Authors and Affiliations

  1. Tampere University of Technology, 33101, Tampere, Finland

    Mohammad M. Aref, Juho Vihonen, Reza Ghabcheloo & Jouni Mattila

Authors
  1. Mohammad M. Aref
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  2. Juho Vihonen
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  3. Reza Ghabcheloo
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  4. Jouni Mattila
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Corresponding author

Correspondence to Mohammad M. Aref .

Editor information

Editors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Carlo Ferraresi

  2. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Giuseppe Quaglia

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Aref, M.M., Vihonen, J., Ghabcheloo, R., Mattila, J. (2018). On Latencies and Noise Effects in Vision-Based Control of Mobile Robots. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_22

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  • DOI: https://doi.org/10.1007/978-3-319-61276-8_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61275-1

  • Online ISBN: 978-3-319-61276-8

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