Abstract
In this paper, we discuss both theoretical and implementation issues of a vision based control approach applied to a mobile robot. After having briefly presented a visual servoing framework based on the task function approach, we point out some problems of its application to the case of mobile nonholonomic robots. We will show how by using additional degrees of freedom provided by an manipulator arm, we can overpass these difficulties by introducing redundancy with respect to the task. The second part of the paper deals with the development of an experimental testbed specially designed to rapidly implement and validate reactive vision based tasks. It is constituted by a mobile robot carrying an hand-eye system using a dedicated vision hardware based on VLSI's and DSP 96002's processors which allows to perform image processing at video rate. Programming aspects are fully taken into account from tasks level specification up to real time implementation by means of powerfull software tools handling explicitely reactivity and real time control issues.
The work on mobile robot is supported by firm ECA (Toulon, France) under a CIFRE contract. The work on Orccad system is made in cooperation with Aleph Technologies (Grenoble, France).
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© 1994 Springer-Verlag London Limited
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Rives, P., Pissard-Gibollet, R., Kapellos, K. (1994). Development of a reactive mobile robot using real time vision. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027616
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DOI: https://doi.org/10.1007/BFb0027616
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