Active task-space sensing and localization of autonomous vehicles

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 3770-3775

  Nejat, Goldie ^a   Benhabib, Beno ^a   Membre, Arnaud ^b  

^a UNIVERSITY OF TORONTO   (Canada)

^b Ecole Superieure d'Ingenieurs d'Annecy   (France)

Author keywords

Active sensing; High precision localization; Line of sight guidance

Indexed keywords

COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); DISTANCE MEASUREMENT; END EFFECTORS; SYSTEMATIC ERRORS;

ACTIVE SENSING; HIGH-PRECISION LOCALIZATION; LINE-OF-SIGHT-SENSING (LOS); PLANAR ROBOTIC PLATFORM; TASK-SPACE SENSING;

ROBOTICS;

EID: 33846148660     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570695     Document Type: Conference Paper

References (22)

1. G. Nejat, I. Heerah and B. Benhabib, "Line-of-Sight Task-Space Sensing for the Localization of Autonomous Mobile Devices," IEEE Conference on Intelligent Robots and Systems, Las Vegas, NV, pp. 968-973, 2003.
2. R.C. Arkin, and R.R. Murphy, "Autonomous Navigation in a Manufacturing Environment," IEEE, International Conference on Robotics and Automation, Cincinnati, OH, pp. 445-454, 1990.
3. H. Roth, and K. Schilling, "Navigation and Docking Manoeuvres of Mobile Robots in Industrial Environments," IEEE, Conference of Industrial Electronics Society, Aachen, Germany, pp. 2458-2462, 1998.
4. P. Mira, R. Ferreira, V. Grossmann, and M.I. Ribeiro, "Docking of A Mobile Platform Based on Infrared Sensors," IEEE, Int. Symp. on Industrial Electronics, Guimaraes, Portugal, pp. 735-740, 1997.
5. R.T. Howard, T.C. Bryan, and M.L. Book, "An Advanced Video Sensor for Automated Docking," NASA Scientific and Aerospace Technical Report, pp. 8.B.6-1-8.B.6-7, 2001.
6. J. Vaganay, P. Baccou, and B. Jouvencel, "Homing by Acoustic Ranging to a Single Beacon," MTS/IEEE, Oceans Conference, Providence, RI, pp. 1457-1462, 2000.
7. P. Roessler, S.A. Stoeter, P.E. Rybski, M. Gini, and N. Pananikolopoulos, "Visual Servoing of A Miniature Robot Toward A Marked Target," IEEE Conference on Digital Signal Processing, Santorini, Greece, pp. 1015-1018, 2002.
8. C.J. Taylor, and J.P. Ostrowski, "Robust Visual Servoing Based on Relative Orientation," IEEE, Computer Vision and Pattern Recognition, Fort Collins, CO, pp. 574-580, 1999.
9. D. Kragic, and H. Christensen, "Cue Integration for Visual Servoing," IEEE Trans, on Robotics and Automation, Vol. 17, pp. 18-27, 2001.
10. T.A.G. Heeren, and F.E. Veldpaus, "An Optical System to Measure the End-Effector Position for On-line Control Purposes," The International Journal of Robotics Research, Vol. 11, no. 1, pp. 53-63, 1992.
11. J.R.R. Mayer, and G.A., "A Portable Instrument for 3-D Dynamic Robot Measurements Using Triangulation and Laser Tracking," IEEE Trans, on Robotics and Automation, Vol. 10, no. 4, pp. 504-516, 1994.
12. Y. Koseki, T. Arai, K. Sugimoto, T. Takatuji, and M. Goto, "Design and Accuracy Evaluation of High-Speed and High Precision Parallel Mechanism," IEEE Int. Conference on Robotics and Automation, Leuven, Belgium, pp. 1340-1345, 1998.
13. C.J. Leigh-Lancaster, B. Shirinzadeh and Y.L. Koh, "Development of Laser Tracking System," IEEE, Conference on Mechatronics and Machine Vision in Practice, Toowoomba, Australia, pp. 163-168, 1997.
14. G. Nejat and B. Benhabib, "High-Precision Task-Space Sensing and Guidance for Autonomous Robot Localization," IEEE, Int. Conference on Robotics and Automation, Taipei, Taiwan, pp. 1527-1532, 2003.
15. A. Bonen, R.E. Saad, K.C. Smith, and B. Benhabib, "A Novel Electrooptical Proximity Sensor for Robotics: Calibration and Active Sensing," IEEE Trans on Rob. and Auto., Vol. 13, pp. 377-386, 1997.
16. E. Merchand and F. Chaumette, "An Autonomous Active Vision System for Complete and Accurate 3D Scene Reconstruction," International Journal of Computer Vision, Vol. 32, no. 3, pp. 171-194, 1999.
17. T. Mukai and M. Ishikawa, "An Active Sensing Method Using Estimated Errors for Multisensor Fusion Systems," IEEE Transactions on industrial Electronics, Vol. 43, no. 3, pp. 380-386, 1996.
18. K. Sabe and H. Hashimoto, "Realtime tracking using Active Eye Sensing System," IEEE International Conference on Industrial Electronics, Control and Instrumentation, Orlando, FL, pp. 156-160, 1995.
19. J. Peng, A. Srikaew, M. Wilkes, K. Kawamura and A. Peters, "An Active Vision System for Mobile Robots," IEEE International Conference on Systems, Man and Cybernetics, Nashville, TN, pp. 1472-1477, 2000.
20. A. Arsenio and M.I. Ribeiro, "Active Range Sensing for Mobile Robot Localization," IEEE/RSI International Conference on Intelligent Robots and Systems, Victoria, Canada, pp. 1066-1071, 1998.
21. M.D. Adams, "Coaxial Range Measurement-Current Trends for Mobile Robotic Applications," IEEE Sensors Journal, Vol. 2, pp. 2-13, 2002.
22. J.A. Nelder and R. Mead, "A Simplex Method for Function Minimization," Computer Journal, Vol. 7, pp. 308-313, 1964.