A controller design on person following omni-directional vehicle robots

Prasarn Kiddee; Akira Shimada

doi:10.1109/SICE.2007.4421138

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 language	English
Title of host publication	SICE Annual Conference, SICE 2007
Pages	1043-1047
Number of pages	5
DOIs	https://doi.org/10.1109/SICE.2007.4421138
Publication status	Published - 2007 Dec 1
Externally published	Yes
Event	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan Duration: 2007 Sep 17 → 2007 Sep 20

Publication series

Name	Proceedings of the SICE Annual Conference

Conference

Conference	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Country/Territory	Japan
City	Takamatsu
Period	07/9/17 → 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

Access to Document

10.1109/SICE.2007.4421138

Cite this

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title = "A controller design on person following omni-directional vehicle robots",

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.",

keywords = "Omni-directional vehicle, Person following, Real-time control system, Stereo vision sensor",

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AU - Shimada, Akira

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AB - 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.

KW - Omni-directional vehicle

KW - Person following

KW - Real-time control system

KW - Stereo vision sensor

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A controller design on person following omni-directional vehicle robots

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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