A robust docking strategy for a mobile robot using flow field divergence

IEEE Transactions on Robotics

Volumn 24, Issue 4, 2008, Pages 832-842

  McCarthy, Chris ^a,b   Barnes, Nick ^a   Mahony, Robert ^b  

^a CSIRO   (Australia)

^b AUSTRALIAN NATIONAL UNIVERSITY   (Australia)

Author keywords

Focus of expansion (FOE); Image motion analysis; Optical flow; Robot vision systems; Time to contact (TTC)

Indexed keywords

CONTROL THEORY; DOCKING; FEEDBACK; FLOW FIELDS; FLOW OF FLUIDS; MOBILE ROBOTS; OPTICAL BISTABILITY; OPTICAL FLOWS; ROBOTICS; ROBUST CONTROL; ROTATION;

AFFINE MODELS; CLOSE PROXIMITY; CLOSED-LOOP STABILITY ANALYSIS; CLOSED-LOOP SYSTEMS; CONTROL LAWS; EGO-MOTION; FOCUS OF EXPANSION; FOCUS OF EXPANSION (FOE); GRADIENT-BASED; IMAGE MOTION ANALYSIS; NATURAL IMAGES; OPTICAL FLOW; OPTICAL FLOW COMPUTATION; OPTICAL FLOW ESTIMATION; OPTICAL FLOW FIELDS; ROBOT VISION SYSTEMS; ROBUST STRATEGY; TIME-TO-CONTACT; TIME-TO-CONTACT (TTC); VEHICLE MODELLING;

ROBOTS;

EID: 50649095154     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.926871     Document Type: Article

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