Abstract
Navigation with the specific objective can be defined by specifying desired timed trajectory. The concept of desired direction field is proposed to deal with such navigation problem. To lay down a principled discussion of the accuracy and efficiency of navigation algorithms, strictly quantitative definitions of tracking error, actuator effect, and time efficiency are established. In this paper, one vision navigation control method based on desired direction field is proposed. This proposed method uses discrete image sequences to form discrete state space, which is especially suitable for bipedal walking robots with single camera walking on a free-barrier plane surface to track the specific objective without overshoot. The shortest path method (SPM) is proposed to design such direction field with the highest time efficiency. However, one improved control method called canonical piecewise-linear function (PLF) is proposed. In order to restrain the noise disturbance from the camera sensor, the band width control method is presented to significantly decrease the error influence. The robustness and efficiency of the proposed algorithm are illustrated through a number of computer simulations considering the error from camera sensor. Simulation results show that the robustness and efficiency can be balanced by choosing the proper controlling value of band width.
Highlights
Vision navigation of mobile robots has been known as an open and challenging problem over the last few decades [1, 2]
For the real application of one bipedal robot called Cornell Ranger [13], the goal of task is to track specific objective
The wheeled mobile robots can capture a sequence of views at the same level height, while for bipedal robots, the discrete walking gaits determine that the vertical position of cameras mounted in robot is varying, so a large sequence of images captured by cameras are under different level height, which gives rise to more complex vision processing
Summary
Vision navigation of mobile robots has been known as an open and challenging problem over the last few decades [1, 2]. In order to estimate the robustness and efficiency of navigation algorithm, the quantitative definitions of robustness and efficiency are given This concept can be expanded to deal with all navigation problems of mobile robots with the specific objective. In order to figure out the problem mentioned above for the discrete walking gaits of bipedal robots, the discrete-state-based vision method of using single camera is presented to obtain the position and direction information between bipedal robot and specific objective at the phase of path recognition. At the phase of path planning, one piecewise-linear method (PLM) is proposed to design the desired direction field and achieve navigation algorithm to control the bipedal robot walking on a plane surface. Generally capital letters will be used to denote desired quantities and lowercase letters to denote actual quantities
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