Verification of visual attitude control for outdoor autonomous mobile robots

Shohei Iwata, Shota Sahashi, Tadahiro Hasegawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The visual attitude control for an outdoor autonomous mobile robot was proposed. The attitude control method uses a virtual barycenter of the quadrangle that is constructed from four feature points in camera image. By tracking four feature points using optical flow at all time, the quadrangle is updated using the same feature points, and its virtual barycenter is calculated. The quadrangle maintains the similar figure during a robot's movement. Therefore, its virtual barycenter stays at the same position when the mobile robot moves straight. On the other hand, the position of the virtual barycenter varies in proportion to the movement in the horizontal direction of the mobile robot. We demonstrated that the autonomous mobile robot equipped with this visual attitude control was able to move exactly between way points. The experimental results proved that the visual attitude control is useful for mobile robots.

Original languageEnglish
Title of host publication2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
PublisherIEEE Computer Society
Pages319-320
Number of pages2
DOIs
Publication statusPublished - 2013
Event2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju
Duration: 2013 Oct 302013 Nov 2

Other

Other2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
CityJeju
Period13/10/3013/11/2

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Keywords

  • Autonomous mobile robots
  • Virtual barycenter
  • Visual attitude control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Iwata, S., Sahashi, S., & Hasegawa, T. (2013). Verification of visual attitude control for outdoor autonomous mobile robots. In 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 (pp. 319-320). [6677375] IEEE Computer Society. https://doi.org/10.1109/URAI.2013.6677375