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 - Omni-directional robot
KW - intelligent space
KW - localization
KW - multi-sampling rate control
UR - http://www.scopus.com/inward/record.url?scp=84911888156&partnerID=8YFLogxK
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U2 - 10.1109/SICE.2014.6935307
DO - 10.1109/SICE.2014.6935307
M3 - Conference contribution
AN - SCOPUS:84911888156
T3 - Proceedings of the SICE Annual Conference
SP - 1867
EP - 1873
BT - Proceedings of the SICE Annual Conference
PB - Society of Instrument and Control Engineers (SICE)
T2 - 2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
Y2 - 9 September 2014 through 12 September 2014
ER -