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http://dx.doi.org/10.5302/J.ICROS.2011.17.4.375

Improvement of Visual Path Following through Velocity Variation  

Choi, I-Sak (Seoul National University of Science and Technology)
Ha, Jong-Eun (Seoul National University of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.4, 2011 , pp. 375-381 More about this Journal
Abstract
This paper deals with the improvement of visual path following through velocity variation according to the coordinate of feature points. Visual path follow first teaches driving path by selecting milestone images then follows the route by comparing the milestone image and current image. We follow the visual path following algorithm of Chen and Birchfield [8]. In [8], they use fixed translational and rotational velocity. We propose an algorithm that uses different translational velocity according to the driving condition. Translational velocity is adjusted according to the variation of the coordinate of feature points on image. Experimental results including diverse indoor cases show the feasibility of the proposed algorithm.
Keywords
autonomous navigation; path follow; feature matching; intelligent robot;
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