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Various Robotic Applications of Perturbation/Correlation Method

[+] Author Affiliations
Byunghoon Chung, Peter Knuepfer, Sooyong Lee

Texas A&M University, College Station, TX

Paper No. IMECE2002-32687, pp. 939-947; 9 pages
doi:10.1115/IMECE2002-32687
From:
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME

abstract

We propose a novel technique for acquiring effective information for obstacle avoidance in mobile robot navigation and for object detection in vision image. Instead of simply receiving data at a single point, we actively give perturbations to the system and measure the response from the system. Correlating the input and the output, we can formulate the correlation function and, useful information such as gradient can be obtained from this function. This algorithm is applied to the obstacle avoidance in mobile robot navigation and the object detection in vision image processing.

Copyright © 2002 by ASME

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