Hybrid Collaborative Stereo Vision System for Mobile Robots Formation Navigation

FLAVIO ROBERTI; TOIBERO, J. M.; SORIA, C.; VASSALLO, R.; CARELLI, R.

Barcelona, España

Simposio; International Symposium on Robotics; 2009

This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kind 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 robots team to a desired position relative to such object while maintaining a given robot formation. Experimental results with real mobile robots are included to validate the proposed vision system.