Embedded control of mobile robot with limited resources based on optical flow

作者：Sanahuja G; Valera A^*; Sanchez A J; Ricolfe Viala C; Valles M; Marin L

来源：Revista Iberoamericana de Automatica e Informatica Industrial, 2011, 8(3): 250-257.

DOI：10.1016/j.riai.2011.06.012

• movement control
• optical flow
• robotics systems
• limited resources
• robot control

Artificial vision plays an important role for robotics. Usually it can be used to obtain global information of the environment, automatic avoidance obstacles and trajectory generation, etc. Using artificial vision, the scene objects and also the observer movements can be obtained with optical flow techniques. From the implementation point of view, the computational cost of these optical flow algorithms is very heavy, and it can be a problem for its use in applications like airplanes, helicopters, vehicles submarines, mobile robots etc.
This paper presents a movement control implementation for a mobile micro-robot based on optical flow. It is a robot of 75mm of diameter with very limited resources of memory and computational power. Despite of these limited resources, the implementation has been successfully carried out. In addition, the results obtained can be extrapolated of other kind of mobile systems.

• 出版日期2011-7