PT Unknown
AU Xavier Perez Sala
   Cecilio Angulo
   Sergio Escalera
TI Biologically Inspired Turn Control in Robot Navigation
BT 14th Congrès Català en Intel·ligencia Artificial
PY 2011
BP 187
EP 196
DI 10.3233/978-1-60750-842-7-189
AB An exportable and robust system for turn control using only camera images is proposed for path execution in robot navigation. Robot motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames in the image sequence. This information is used to compute the instantaneous rotation angle. Finally, control loop is closed correcting robot displacements when it is requested for a turn command. The proposed system has been successfully tested on the four-legged Sony Aibo robot.
ER