Skip navigation
Skip navigation

Terrain Following using Wide Field Optic Flow

Slatyer, Evan; Mahony, Robert; Corke, Peter

Description

Wall and terrain following is a challenging problem for small, fast, and fragile robot vehicles. This paper presents a robust algorithm based on wide field integration of optic flow. Solutions for two dimensional and three dimensional wall following is provided for vehicles with non-holonomic velocity constraints that ensure that the focus of expansion of the flow field is known. The potential of the proposed algorithm is demonstrated in a simulation environment.

CollectionsANU Research Publications
Date published: 2010
Type: Conference paper
URI: http://hdl.handle.net/1885/61908
Source: Proceedings of ACRA 2010

Download

File Description SizeFormat Image
01_Slatyer_Terrain_Following_using_Wide_2010.pdf270.39 kBAdobe 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