Vision and acoustic homing

Homing is a method where an autonomous robot reaches a defined position from anywhere in the environment. It is based on vision and acoustic sensors and can be used for waypoint navigation, reference path following, finding the location of unknown sources, and localization.

Key Contributors: Dr. Anupa Sabnis (PhD 2016), Mr. Arunkumar G.K. (PhD ongoing)

Selected Publication

  • Arunkumar G.K. and Leena Vachhani, "Moving Target Tracking in 3D without range sensing: Sliding mode approach", Under preparation.
  • Arunkumar G.K., Leena Vachhani and Hemendra Arya, "Optimal Kinematic Controller", Under preparation.
  • Arunkumar G.K. and Leena Vachhani, "3-D Acoustic Homing using 2-D Asymptotes", Mechatronics, Elsevier , Volume 70, October 2020, https://doi.org/10.1016/j.mechatronics.2020.102407 (Impact Factor: 2.992)
  • Arunkumar G.K., Anupa Sabnis and Leena Vachhani, " Robust steering control for autonomous homing and its application in visual homing under practical conditions", Journal of Intelligent and Robotic Systems, Springer ,Vol. 89 (3-4), pp 403-419, March 2018 . (Impact Factor: 2.02)
  • Anupa Sabnis, Arunkumar G.K, Vikrant Reddy D. and Leena Vachhani, "Probabilistic Approach for Visual Homing of a Mobile Robot in the Presence of Dynamic Obstacles", IEEE Transactions on Industrial Electronics, Vol. 63, No. 9, pp 5523-5533, 2016 (Impact Factor: 7.515).

Projects

  • Path planning of an Autonomous Vehicle using Omni-directional Camera

    Duration: Jul'2010-Dec'2013

    Overlay: INR 10 Lakh

    Abstract: Embedded control techniques based on minimal sensing and processing requirement using omni-directional camera are developed.

  • Localizing and following a predefined path by an Autonomous Mobile Vehicle using Panoramic Image Formation

    Duration: Jul'2013-Jul'2015

    Overlay: INR 15 Lakh

    Abstract: Formation of panoramic image using multiple cameras involved parallel processing and calibration of cameras with respect to each other. Techniques which involved extracting minimal and robust information from panoramic image for vision based autonomous tasks are developed.

  • Vision based motion Planning for a 3D crane

    Duration: Jul'2015-Jul'2017

    Overlay: INR 7 Lakh

    Abstract:

  • Vision based Localization for Autonomous & Semi-Autonomous Navigation of a Quadcopter

    Duration: Jan'2016-Jul'2017

    Overlay: USD 400

    Abstract: