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Terrain Following using Wide Field Optic Flow

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Date

2010

Authors

Slatyer, Evan
Mahony, Robert
Corke, Peter

Journal Title

Journal ISSN

Volume Title

Publisher

Australian Robotics and Automation Association

Abstract

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.

Description

Keywords

Keywords: Focus of expansions; Nonholonomics; Optic flow; Robot vehicles; Robust algorithm; Simulation environment; Terrain following; Velocity constraints; Wall following; Wide field; Algorithms; Display devices; Robots; Robotics

Citation

URI

http://hdl.handle.net/1885/61908

Collections

ANU Research Publications

Source

Proceedings of ACRA 2010

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

Restricted until

2037-12-31

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01_Slatyer_Terrain_Following_using_Wide_2010.pdf (270.39 KB)

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