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2002
Conference Paper
Titel
Reactive robot control using optical analog VLSI sensors
Alternative
Reactive Robot Control using Silicon Retina Sensors
Abstract
The use of three types of spatio-temporal processing elements is investigated for optical sensory preprocessing in order to solve robot control problems in mobile robotics. The sensory elements are optical analog VLSI silicon retina type devices that do on-chip gradient operations and perform a current mode hysteretic winner-take-all function. Each sensor device extracts a characteristic feature from the optical input: position of highest contrast along a 1-D array, maximum speed along a 1-D array, maximum optical flow on a 2-D array. These are continuously calculated by the respective sensory devices. The sensory devices are applied in a mobile robotics application. They are used for active ball control, ball velocity prediction and active gaze-control for RoboCup Middle-Size League robots.
Tags
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reactive robot control
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optical analog VLSI sensor
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spatio-temporal processing element
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optical sensory preprocessing
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mobile robot
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silicon retina type device
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on-chip gradient operation
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current mode hysteretic winner-take-all function
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active ball control
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ball velocity prediction
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active gaze control
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RoboCup middle-size league robot