A controller design on person following omni-directional vehicle robots

Prasarn Kiddee, Akira Shimada

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

This paper introduces a controller design methodology on person following omni-directional vehicle robots. The robot that we use as a platform is a mecanum wheeled omni-directional vehicle. The system mainly consists of the vehicle and stereo vision sensor. The stereo vision sensor is mounted on the top of the vehicle. The stereo vision sensor is utilized in order to recognize position of target point as an alternative of a person and measure the relative position from the vehicle to target point. Furthuremore, in order to perform the presented controller in real-time control system, we build the controllers on RT-Linux operating system. This paper describes a simple structure of the control system and shows experimental results.

Original languageEnglish
Title of host publicationSICE Annual Conference, SICE 2007
Pages1043-1047
Number of pages5
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: 2007 Sep 17 → 2007 Sep 20

Publication series

NameProceedings of the SICE Annual Conference

Conference

ConferenceSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CountryJapan
CityTakamatsu
Period07/9/17 → 07/9/20

Keywords

  • Omni-directional vehicle
  • Person following
  • Real-time control system
  • Stereo vision sensor

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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