Vision-Based Motion Control

 

[1] Our works on vision-based motion control is categorized in two parts:

  • Marker-based pose estimation
  • Marker-less pose estimation

 

 

 

Object detection in closed loop control

 

Integration of marker detection in the control loop

(for iMoro)

 [embedyt] https://www.youtube.com/watch?v=m4vsr1rvxUg[/embedyt]

(for Avant Forklift)

[embedyt] https://www.youtube.com/watch?v=uAeBkCu2iOk[/embedyt]

 

Software Architecture,

The target blocks are highlighted. These are the control blocks needed to utilize our method.

Real-time systems are working together with the perception and AI blocksets to have a flexible and reliable autonomous system
Block Diagram of Modules in an Autonomous Forklift

 

Related Publications:

Vision-Guided Autonomous Forklift

This paper tackles the problem of integrating Visual Servoing Control (VSC) into the
functionalities of an Articulated-Frame-Steering (AFS) hydraulic forklift. The controller is
capable of breaking down high-level messages into piecewise commands for the different
software modules of the vehicle. It also preserves seamless cooperation of the modules for a
successful pallet-picking mission. The proposed architecture has been verified on a real
machine. Videos of the test runs are available on YouTube.

http://link.springer.com/chapter/10.1007/978-3-319-49058-8_37

Our relevant articles are available through scholar search: HERE


All relevant publications are listed here: [1],[2],[3],[4],[5],[6]

[1]
M. M. Aref, J. Vihonen, R. Ghabcheloo, and J. Mattila, “On Latencies and Noise Effects in Vision-Based Control of Mobile Robots,” in Advances in Service and Industrial Robotics, Springer International Publishing, 2017, pp. 191–199 [Online]. Available: http://dx.doi.org/10.1007/978-3-319-61276-8_22
[2]
M. M. Aref, R. Ghabcheloo, A. Kolu, and J. Mattila, “Vision-Guided Autonomous Forklift,” in Advances in Intelligent Systems and Computing, Springer International Publishing, 2016, pp. 338–346 [Online]. Available: http://dx.doi.org/10.1007/978-3-319-49058-8_37
[3]
M. M. Aref, R. Oftadeh, R. Ghabcheloo, and J. Mattila, “Real-time vision-based navigation for nonholonomic mobile robots,” in 2016 IEEE International Conference on Automation Science and Engineering (CASE), 2016 [Online]. Available: http://dx.doi.org/10.1109/COASE.2016.7743449 [Source]
[4]
M. M. Aref, R. Ghabcheloo, A. Kolu, and J. Mattila, “A multistage controller with smooth switching for Autonomous Pallet Picking,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 [Online]. Available: http://dx.doi.org/10.1109/ICRA.2016.7487408 [Source]
[5]
M. M. Aref, R. Ghabcheloo, and J. Mattila, “A macro-micro controller for pallet picking by an articulated-frame-steering hydraulic mobile machine,” in 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014 [Online]. Available: http://dx.doi.org/10.1109/ICRA.2014.6907865 [Source]
[6]
M. M. Aref, R. Ghabcheloo, A. Kolu, M. Hyvonen, K. Huhtala, and J. Mattila, “Position-based visual servoing for pallet picking by an articulated-frame-steering hydraulic mobile machine,” in 2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM), 2013 [Online]. Available: http://dx.doi.org/10.1109/RAM.2013.6758587 [Source]

Be the first to comment

Leave a Reply

This site uses Akismet to reduce spam. Learn how your comment data is processed.