Presentado al IFAC Symposium on Intelligent Autonomous Vehicles (IAV/2007) celebrado en Toulouse (France). ; In this paper we present a real-time active motion strategy for a mobile robot navigating in a non-flat terrain and its 3D constrained motion model. The aim is to control the robot with measurements from only one camera that autonomously builds a visual feature map while at the same time optimises its localisation within this map. The technique chooses the most appropriate commands maximising the expected information gain between prior states and measurements, while performing 6DOF bearing-only SLAM at real-time. The constrained 3D motion model presented here is used to infer the position of the vehicle in order to evaluate the mutual information for all possible actions at the same time. To validate the approach, not only simulations over uneven terrain have been performed, but also experimental results are shown for the technique being tested with a synchro-drive mobile robot platform with a wide-angle camera. ; This work was supported by projects: 'Integration of robust perception, learning, and navigation systems in mobile robotics' (J-0929), 'Ubiquitous networking robotics in urban settings' (E-00938). ; This research is supported by the Spanish Ministry of Education and Science under an FPI Scholarship to TCV, a Ramón y Cajal Postdoctoral Fellowship to JAC, and the project DPI 2004-5414, as well as by the EU URUS project FP6-IST-045062. ; Peer Reviewed
Guiding and localising in real-time a mobile robot with a monocular camera in non-flat terrains
2007-01-01
Conference paper
Electronic Resource
English
Mobile robots , SLAM , Navigation , Robotics , Robots
DDC: | 629 |
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