tailieunhanh - Robot Vision 2011 Part 16

Tham khảo tài liệu 'robot vision 2011 part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 592 Robot Vision cylinders on the floor estimating as exactly as possible their 2D position. Kalman filtering is used to model both target and obstacles positions. One-task experiments As a reference for the maximum expected performance for each task some experiments where designed involving only one task. Experiment 1 Follow Robot only In this experiment the leader robot is commanded to move forward at a constant speed of 200 mm sec while the pursuer must try to keep a constant separation of 2 meters. Several tests have been conducted along the main corridor of our lab following a 15 meters straight line path. The pursuer was able to stabilize the reference distance with a maximum error around 150 mm as shown in figure 8. This experiment determines the base performance level for the follow task. Fig. 8. Robot and active-vision system Experiment 2 Obstacle avoidance only The active vision robot is commanded to explore the environment looking for objects yellow cylinders trying to reduce their position uncertainty below a predefined threshold. The robot moves straight-line inside a corridor formed by 8 cylinders equally distributed in a zigzag pattern along the path. The figure 9 illustrates the robot path and the different detections for each localized object including their first larger and minimum uncertainty ellipses. The results show how the robot was able to localize all the objects with minimum uncertainty ellipses ranging from 100 to 200 mm in diameter. Multi-Task Active-Vision in Robotics 593 Fig. 9. Obstacle avoidance-Only experiment This experiment determines the base performance level for the obstacle avoidance task. Multiple-task experiments The multiple-task experiments consider a scenario in which each task computes its desired camera configuration and urgency and asks the MTVS scheduler to obtain the gaze control. The scheduler uses this information to select where to look next and how to distribute images. The obstacle avoidance task is extended to