Robotics

Servo-visual control for mobile robot navigation
(since august 2007)

• Members:
  • Geovany Araújo Borges
• Ex-members:
  • Mariana Costa Bernardes (M.Sc. degree, Electrical Eng.).
• Goals: investigate the use of servo-visual control techniques for navigation of mobile robots.
• Activities: mobile robot docking without a priori environment information.
• Documents:
  • Mariana Costa Bernardes, "Controle servo-visual para aproximação de portas por robôs móveis equipados com duas câmeras", M.Sc. degree dissertation in Electrical Engineering, Electrical Engineering Department, Universidade de Brasília, 2009.
• Photos:

Door docking photos

Image sequence in a door docking experiment. The door sides are shown in red, and their estimates are shown as blue lines.

• Videos:
  • omni.docking.PBVS.wmv (13MB): automatic door docking using position-based servo control in 3D. Environment model is built as the robot moves.
  • omni.docking.IBVS.wmv (3MB): automatic door docking using image-based servo control in 2D. Environment model is built as the robot moves.
  • omni.teleoperacao.wmv (28MB): video showing the Omni robot running with the new socket-based architecture.
    
• Publications: