TY - GEN
T1 - Terrain following using wide field optic flow
AU - Slatyer, Evan
AU - Mahony, Robert
AU - Corke, Peter
PY - 2010
Y1 - 2010
N2 - Wall and terrain following is a challenging problem for small, fast, and fragile robot vehicles. This paper presents a robust algorithm based on wide field integration of optic flow. Solutions for two dimensional and three dimensional wall following is provided for vehicles with non-holonomic velocity constraints that ensure that the focus of expansion of the flow field is known. The potential of the proposed algorithm is demonstrated in a simulation environment.
AB - Wall and terrain following is a challenging problem for small, fast, and fragile robot vehicles. This paper presents a robust algorithm based on wide field integration of optic flow. Solutions for two dimensional and three dimensional wall following is provided for vehicles with non-holonomic velocity constraints that ensure that the focus of expansion of the flow field is known. The potential of the proposed algorithm is demonstrated in a simulation environment.
UR - http://www.scopus.com/inward/record.url?scp=84855570252&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9780980740417
T3 - Proceedings of the 2010 Australasian Conference on Robotics and Automation, ACRA 2010
BT - Proceedings of the 2010 Australasian Conference on Robotics and Automation, ACRA 2010
T2 - 2010 Australasian Conference on Robotics and Automation, ACRA 2010
Y2 - 1 December 2010 through 3 December 2010
ER -