Multi-robot Formation based on Object Tracking Method using Fisheye Images

Abstract

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omnidirectional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multirobots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have 360°of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.