Abstract
Control system of mobile robot in intelligent space is often designed based on vision feedback control. However, it can perform robot in the space but the performance may not be high because the sampling rate of the vision sensor is low. To solve the problem, this paper scopes on the improvement of control system for omni-directional robot in intelligent space with multi-rate sampling control. Moreover, it is designed to derive global positioning error in feedback control system with internal sensors and low sampling rate vision system. In order to implement on intelligent space development, Kinect is used as an environment sensor to localize robot position. After robot position and objects in a space are detected, they are sent to the control system in the robot. Then, the presented multi-rate control involves robot position detected from Kinect and rotary encoder data in order to handle robot motion. The result is presented by experiment. It shows the trajectory tracking performance of omni-directional robot in the space, which is performed by the multi-rate control.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Publisher | Society of Instrument and Control Engineers (SICE) |
| Pages | 1867-1873 |
| Number of pages | 7 |
| ISBN (Print) | 9784907764463 |
| DOIs | |
| Publication status | Published - 2014 Oct 23 |
| Event | 2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo Duration: 2014 Sep 9 → 2014 Sep 12 |
Other
| Other | 2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 |
|---|---|
| City | Sapporo |
| Period | 14/9/9 → 14/9/12 |
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Keywords
- 3D information
- intelligent space
- localization
- multi-sampling rate control
- Omni-directional robot
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Multi-rate discrete control for omni-directional robot in intelligent space. / Phaoharuhansa, Danai; Shimada, Akira.
Proceedings of the SICE Annual Conference. Society of Instrument and Control Engineers (SICE), 2014. p. 1867-1873 6935307.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Multi-rate discrete control for omni-directional robot in intelligent space
AU - Phaoharuhansa, Danai
AU - Shimada, Akira
PY - 2014/10/23
Y1 - 2014/10/23
N2 - Control system of mobile robot in intelligent space is often designed based on vision feedback control. However, it can perform robot in the space but the performance may not be high because the sampling rate of the vision sensor is low. To solve the problem, this paper scopes on the improvement of control system for omni-directional robot in intelligent space with multi-rate sampling control. Moreover, it is designed to derive global positioning error in feedback control system with internal sensors and low sampling rate vision system. In order to implement on intelligent space development, Kinect is used as an environment sensor to localize robot position. After robot position and objects in a space are detected, they are sent to the control system in the robot. Then, the presented multi-rate control involves robot position detected from Kinect and rotary encoder data in order to handle robot motion. The result is presented by experiment. It shows the trajectory tracking performance of omni-directional robot in the space, which is performed by the multi-rate control.
AB - Control system of mobile robot in intelligent space is often designed based on vision feedback control. However, it can perform robot in the space but the performance may not be high because the sampling rate of the vision sensor is low. To solve the problem, this paper scopes on the improvement of control system for omni-directional robot in intelligent space with multi-rate sampling control. Moreover, it is designed to derive global positioning error in feedback control system with internal sensors and low sampling rate vision system. In order to implement on intelligent space development, Kinect is used as an environment sensor to localize robot position. After robot position and objects in a space are detected, they are sent to the control system in the robot. Then, the presented multi-rate control involves robot position detected from Kinect and rotary encoder data in order to handle robot motion. The result is presented by experiment. It shows the trajectory tracking performance of omni-directional robot in the space, which is performed by the multi-rate control.
KW - 3D information
KW - intelligent space
KW - localization
KW - multi-sampling rate control
KW - Omni-directional robot
UR - http://www.scopus.com/inward/record.url?scp=84911888156&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911888156&partnerID=8YFLogxK
U2 - 10.1109/SICE.2014.6935307
DO - 10.1109/SICE.2014.6935307
M3 - Conference contribution
AN - SCOPUS:84911888156
SN - 9784907764463
SP - 1867
EP - 1873
BT - Proceedings of the SICE Annual Conference
PB - Society of Instrument and Control Engineers (SICE)
ER -