Compensating Intermittent Delayed Visual Feedback in Robot Navigation

When a mobile robot uses vision for self-localization and obstacle avoidance, the results of image processing become available after a variable computational delay. If the robot keeps moving during image processing, results become available after the robot has left the position where the image was taken. This is the problem of control in presence of intermittent delayed feedback. This paper proposes a solution in the form of a modification of the Smith Predictor. Several previously proposed methods, in particular those using retro-active updating, are reframed here in the context of the Smith Predictor. Preliminary navigation results are shown.

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