TY - GEN
T1 - Visual attitude control using a virtual barycenter of a quadrangle that constructed from feature points for outdoor autonomous mobile robots
AU - Kawamura, Hidefumi
AU - Iwata, Shohei
AU - Sahashi, Shota
AU - Hasegawa, Tadahiro
PY - 2012/12/1
Y1 - 2012/12/1
N2 - We proposed a visual attitude control for an outdoor autonomous mobile robot. 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.
AB - We proposed a visual attitude control for an outdoor autonomous mobile robot. 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.
UR - http://www.scopus.com/inward/record.url?scp=84876588143&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84876588143&partnerID=8YFLogxK
U2 - 10.1109/MHS.2012.6492430
DO - 10.1109/MHS.2012.6492430
M3 - Conference contribution
AN - SCOPUS:84876588143
SN - 9781467348126
T3 - 2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012
SP - 316
EP - 318
BT - 2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012
T2 - 23rd Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2012
Y2 - 4 November 2012 through 7 November 2012
ER -