Artigo em periódicoOpen Access
Low-Level Active Visual Navigation: Increasing Robustness of Vision-Based Localization Using Potential Fields
RODRIGUES, ROMULO T.2018RODRIGUES, ROMULO T.; BASIRI, MEYSAM; AGUIAR, A. PEDRO; MIRALDO, PEDRO
Resumo
Resumo
This letter proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each feature in the current image frame with an attractive or neutral potential energy, with the objective of generating a control action that drives the vehicle towards the goal, while still favoring feature rich areas within a local scope, thus improving the localization performance. One key property of the proposed method is that it does not rely on mapping, and therefore it is a lightweight solution that can be deployed on miniaturized aerial robots, in which memory and computational power are major constraints. Simulations and real experimental results using a mini quadrotor equipped with a downward looking camera demonstrate that the proposed method can effectively drive the vehicle to a designated goal through a path that prevents localization failure.
Autoria
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palavras-chave
Palavras-chave
visual localizationartificial potential fieldmobile robotsquadrotordownward-looking cameralow-level controlautonomous drones
Volume
3
Número
3
Páginas
2079-2086
Editora
Institute of Electrical and Electronics Engineers (IEEE)
Status
Published
links
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Artigo em periódico