Geintra

Departamento de electronica Universidad de Alcala

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    Guidance of a mobile robot using an array of static cameras located in the environment

    TítuloGuidance of a mobile robot using an array of static cameras located in the environment
    Tipo de publicaciónJournal Article
    Año de publicación2007
    AutoresFernandez, I, Mazo, M, Lazaro, JL, Pizarro, D, Santiso, E, Martin, P, Losada-Gutiérrez, C
    Idioma de publicaciónEnglish
    Revista académicaAutonomous Robots
    Volumen23
    Número4
    Páginas305-324
    Fecha de publicación09/2007
    Lugar de publicaciónNetherlands
    EditorialSpringer Netherlands
    Rank in category2/13
    JCR CategoryROBOTICS
    Palabras claveArray of cameras, Infrared beacons, Intelligent environments, Mobile robot guidance
    JCR Impact Factor1.413
    ISSN0929-5593
    URLhttp://www.springerlink.com/content/747660271r65v460/
    DOI10.1007/s10514-007-9049-4
    Resumen

    This paper presents a new proposal for positioning and guiding mobile robots in indoor environments. The proposal is based on the information provided by static cameras located in the movement environment. This proposal falls within the scope of what are known as intelligent environments; in this case, the environment is provided with cameras that, once calibrated, allow the position of the robots to be obtained. Based on this information, control orders for the robots can be generated using a radio frequency link. In order to facilitate identification of the robots, even under extremely adverse ambient lighting conditions, a beacon consisting of four circular elements constructed from infrared diodes is mounted on board the robots. In order to identify the beacon, an edge detection process is carried out. This is followed by a process that, based on the algebraic distance, obtains the estimated ellipses associated with each element of the beacon. Once the beacon has been identified, the coordinates of the centroids for the elements that make up the beacon are obtained on the various image planes. Based on these coordinates, an algorithm is proposed that takes into account the standard deviation of the error produced in the various cameras in ascertaining the coordinates of the beacon’s elements. An odometric system is also used in guidance that, in conjunction with a Kalman Filter, allows the position of the robot to be estimated during the time intervals required to process the visual information provided by the cameras

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