CASIA OpenIR  > 多模态人工智能系统全国重点实验室
FOV Constraint Region Analysis and Path Planning for Mobile Robot with Observability to Multiple Feature Points
Hongxuan Ma; Wei Zou; Siyang Sun; Zheng Zhu; Zhaobing Kang
Source PublicationInternational Journal of Control, Automation and Systems
2021-09-02
Volume19Issue:11Pages:3785-3800
Abstract

In visual servoing tasks, it is an important problem to maintain the observability to feature points on objects, which are usually used to calculate the pose between objects and robots. In particular, when the robot's vision has a limited field of view (FOV) and the points on objects are distributed separately, the problem is more serious. In this paper, based on FOV constraint region analysis and path planning, we propose a novel method for a mobile robot equipped with a pan-tilt camera to keep all points on objects in its view. According to the Horizontal-FOV and Vertical-FOV angular aperture of camera, bounding boxes assisting to calculate the regions with FOV constraint are acquired firstly. Then the region where the robot inside it cannot keep all points in its view can be obtained. Finally the mobile robot plans a shortest path from the current position to the destination, which can avoid the region with FOV constraint. The results of simulations and experiments prove that our method can make mobile robot keep all feature points in its view when it is moving.

Keywordmobile robot multiple points path planning the field-of-view
MOST Discipline Catalogue工学::控制科学与工程 ; 工学::计算机科学与技术(可授工学、理学学位)
Indexed BySCI
Language中文
Funding ProjectNational Natural Science Foundation of China[61773374] ; National Key Research and Development Program of China[2018YFB1306303]
IS Representative Paper
Sub direction classification机器人感知与决策
planning direction of the national heavy laboratory实体人工智能系统决策-控制
Paper associated data
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/57273
Collection多模态人工智能系统全国重点实验室
Corresponding AuthorWei Zou
Affiliation中国科学院自动化研究所
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Hongxuan Ma,Wei Zou,Siyang Sun,et al. FOV Constraint Region Analysis and Path Planning for Mobile Robot with Observability to Multiple Feature Points[J]. International Journal of Control, Automation and Systems,2021,19(11):3785-3800.
APA Hongxuan Ma,Wei Zou,Siyang Sun,Zheng Zhu,&Zhaobing Kang.(2021).FOV Constraint Region Analysis and Path Planning for Mobile Robot with Observability to Multiple Feature Points.International Journal of Control, Automation and Systems,19(11),3785-3800.
MLA Hongxuan Ma,et al."FOV Constraint Region Analysis and Path Planning for Mobile Robot with Observability to Multiple Feature Points".International Journal of Control, Automation and Systems 19.11(2021):3785-3800.
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