Ivan Anatolievich Vasiliev ¹

Affiliations
1 Central Research and Development Institute of Robotics and Cybernetics, Department 32, Saint Petersburg, Russian Federation

Abstract

Background/Objectives: Localization is the detection of the present coordinates of the robot. Object of this article is a proposition to use for these purposes a simple method of television camera’s image processing. Methods: The wheel sensor (odometer) and only one television camera are used for this. The process of the entire image is carried out in an integrated manner. Findings: The approach implying the processing of the entire television frame discussed herein is more stable than existing approaches within the framework of which some specific points are selected and the tracking and recognition of these landmarks on the picture and at each control cycle. Applications/Improvements: The given algorithm has been tested on two robotic tools and showed good resistance to the vibrations of the television camera and the interference of the television picture.

Keywords

Image, Localization, Robot, Television Camera.

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Ivan Anatolievich Vasiliev ¹

Affiliations
1 Central Research and Development Institute of Robotics and Cybernetics, Department 32, Saint Petersburg, Russian Federation

Abstract

Background/Objectives: The article contains some initial considerations with regard to the non-quantitative motion control. Methods: The approach implying the processing of the entire television frame discussed herein is more stable than existing approaches within the framework of which some specific points are selected and the tracking and recognition of these landmarks on the picture and at each control cycle. Let us consider the difference of rectilinear motion as compared with the motion along the arc for the two landmarks. Next, let us consider a simple way to distinguish landmarks on the television frame. Then we will discuss the original idea setting the motion path by means of the spectral analysis of the television frame. Finally, we will provide an example of this approach from the wildlife. Findings: Discussed concepts are new, aren’t encountered in the literature on robot’s navigation and motion control. In the author’s view such approach has great prospects.The main thing is that these methods are simple, and their application is possible for simple robots with low computational capability. Applications/Improvements: Given approach was preinspected on simple models. It showed method’s reasonably good stability against perturbations.

Keywords

Navigation, Picture, Robot, Spectrum, Television Camera

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