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

McCarthy , Christopher; Barnes, Nick; Mahony, Robert


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
Source: IEEE Transactions on Robotics
DOI: 10.1109/TRO.2008.926871


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