A Hybrid Visual-Model Based Robot Control Strategy for Micro Ground Robots

Hu, Cheng and Fu, Qinbing and liu, Tian and Yue, Shigang (2018) A Hybrid Visual-Model Based Robot Control Strategy for Micro Ground Robots. SAB 2018: From Animals to Animats 15, 10994 . pp. 162-174. ISSN 0302-9743

Full content URL: https://doi.org/10.1007/978-3-319-97628-0_14

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A hybrid visual-model based robot control strategy for micro ground robots
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Abstract

This paper proposed a hybrid vision-based robot control strategy for micro ground robots by mediating two vision models from mixed categories: a bio-inspired collision avoidance model and a segmentation based target following model. The implemented model coordination strategy is described as a probabilistic model using finite state machine (FSM) that allows the robot to switch behaviours adapting to the acquired visual information. Experiments demonstrated the stability and convergence of the embedded hybrid system by real robots, including the studying of collective behaviour by a swarm of such robots with environment mediation. This research enables micro robots to run visual models with more complexity. Moreover, it showed the possibility to realize aggregation behaviour on micro robots by utilizing vision as the only sensing modality from non-omnidirectional cameras.

Keywords:micro robot, visual model, bio-inspired, collision avoidance, image processing
Subjects:G Mathematical and Computer Sciences > G400 Computer Science
Divisions:College of Science > School of Computer Science
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ID Code:32842
Deposited On:07 Aug 2018 13:04

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