Visual control through narrow passages for an omnidirectional wheeled robot
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Metadatos
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comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/146069
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https://doi.org/10.1109/MED54222.2022.9837221 |
Metadatos
Título
Visual control through narrow passages for an omnidirectional wheeled robotAutoría
Fecha de publicación
2022Editor
IEEECita bibliográfica
MORRA, Damiano, et al. Visual control through narrow passages for an omnidirectional wheeled robot. En 2022 30th Mediterranean Conference on Control and Automation (MED). IEEE, 2022. p. 551-556.Tipo de documento
info:eu-repo/semantics/conferenceObjectVersión de la editorial
https://ieeexplore.ieee.org/document/9837221Versión
info:eu-repo/semantics/publishedVersionResumen
Robotic systems are gradually replacing human
intervention in dangerous facilities to improve human safety
and prevent risky situations. In this domain, our work addresses
the problem of autonomous crossing narrow ... [+]
Robotic systems are gradually replacing human
intervention in dangerous facilities to improve human safety
and prevent risky situations. In this domain, our work addresses
the problem of autonomous crossing narrow passages in a semistructured (i.e., partially-known) environment. In particular,
we focus on the CERN’s Super Proton Synchrotron particle
accelerator, where a mobile robot platform is equipped with
a lightweight arm to perform measurements, inspection, and
maintenance operations. The proposed approach leverages an
image-based visual servoing strategy that exploits computer
vision to detect and track known geometries defining narrow
passage gates. The effectiveness of the proposed approach has
been demonstrated in a realistic mock-up. [-]
Descripción
Ponencia presentada en: 30th Mediterranean Conference on Control and Automation (MED 2022), June 28 – July 1, 2022.
Publicado en
2022 30th Mediterranean Conference on Control and Automation (MED). IEEE, 2022. p. 551-556. 9781665406741Entidad financiadora
European Commission
Código del proyecto o subvención
101017008