Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

Abstract

This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kinds of vision cameras) for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo vision system, and this way to steer the robot team to a desired position relative to such object while maintaining a desired robot formation. Experimental results with real mobile robots are included to validate the proposed vision system.

Keywords

• Ditributed visual sensing
• Hybrid stereo vision system
• Formation control
• Non-Linear control.