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Mathematical Problems in Engineering
Volume 2015, Article ID 168645, 12 pages
Research Article

Discrete-State-Based Vision Navigation Control Algorithm for One Bipedal Robot

School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, China

Received 28 November 2014; Revised 28 February 2015; Accepted 3 March 2015

Academic Editor: Victor Santibáñez

Copyright © 2015 Dunwen Wei. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Navigation with the specific objective can be defined by specifying desired timed trajectory. The concept of desired direction field is proposed to deal with such navigation problem. To lay down a principled discussion of the accuracy and efficiency of navigation algorithms, strictly quantitative definitions of tracking error, actuator effect, and time efficiency are established. In this paper, one vision navigation control method based on desired direction field is proposed. This proposed method uses discrete image sequences to form discrete state space, which is especially suitable for bipedal walking robots with single camera walking on a free-barrier plane surface to track the specific objective without overshoot. The shortest path method (SPM) is proposed to design such direction field with the highest time efficiency. However, one improved control method called canonical piecewise-linear function (PLF) is proposed. In order to restrain the noise disturbance from the camera sensor, the band width control method is presented to significantly decrease the error influence. The robustness and efficiency of the proposed algorithm are illustrated through a number of computer simulations considering the error from camera sensor. Simulation results show that the robustness and efficiency can be balanced by choosing the proper controlling value of band width.