Skip navigation
Skip navigation

A Robust Docking Strategy for a Mobile Robot Using Flow Field Divergence

McCarthy , Christopher; Barnes, Nick; Mahony, Robert

Description

We present a robust strategy for docking a mobile robot in close proximity with an upright surface using optical flow field divergence and proportional feedback control. Unlike previous approaches, we achieve this without the need for explicit segmentation of features in the image, and using complete gradient-based optical flow estimation (i.e., no affine models) in the optical flow computation. A key contribution is the development of an algorithm to compute the flow field divergence, or...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Journal article
URI: http://hdl.handle.net/1885/30648
Source: IEEE Transactions on Robotics
DOI: 10.1109/TRO.2008.926871

Download

File Description SizeFormat Image
01_McCarthy _A_Robust_Docking_Strategy_for_2008.pdf1.26 MBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  12 November 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator