An autonomous mobile robotics testbed: Construction, validation, and experiments

Travis A. Riggs; Tamer Inanc; Weizhong Zhang

doi:10.1109/TCST.2009.2027429

An autonomous mobile robotics testbed: Construction, validation, and experiments

Travis A. Riggs, Tamer Inanc, Weizhong Zhang

University of Louisville

Research output: Contribution to journal › Article › peer-review

21 Citations (Scopus)

Abstract

This paper describes design and construction of an Autonomous Mobile Robotics Systems Testbed in detail. The testbed is an indoor experimental platform for developing and validating theoretical as well as practical research work in identification, coordinative and cooperative control, trajectory generation, computational intelligence, and sensing for multiple autonomous mobile robotics systems. It provides a designated space for multiple mobile robots while tracking their position and orientation in real-time using an overhead vision system. Several problems encountered in developing the testbed such as multi-camera color consistency, radial lens distortion, hat pattern design are clearly addressed. The testbed is analyzed for its performance and several experiments with ER1 mobile robots are presented.

Original language	English
Article number	5229334
Pages (from-to)	757-766
Number of pages	10
Journal	IEEE Transactions on Control Systems Technology
Volume	18
Issue number	3
DOIs	https://doi.org/10.1109/TCST.2009.2027429
Publication status	Published - May 2010
Externally published	Yes

Keywords

Color vision
Mobile robots
Multi-camera color consistency
Path planning
Testbed

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10.1109/TCST.2009.2027429

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An autonomous mobile robotics testbed: Construction, validation, and experiments

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Keywords

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