Visual attitude control using a virtual barycenter of a quadrangle that constructed from feature points for outdoor autonomous mobile robots

Hidefumi Kawamura, Shohei Iwata, Shota Sahashi, Tadahiro Hasegawa

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

Abstract

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.

Original languageEnglish
Title of host publication2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012
Pages316-318
Number of pages3
DOIs
Publication statusPublished - 2012
Event23rd Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2012 - Nagoya
Duration: 2012 Nov 42012 Nov 7

Other

Other23rd Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2012
CityNagoya
Period12/11/412/11/7

Fingerprint

Attitude control
Mobile robots
Optical flows
Cameras
Robots

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Kawamura, H., Iwata, S., Sahashi, S., & Hasegawa, T. (2012). Visual attitude control using a virtual barycenter of a quadrangle that constructed from feature points for outdoor autonomous mobile robots. In 2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012 (pp. 316-318). [6492430] https://doi.org/10.1109/MHS.2012.6492430

Visual attitude control using a virtual barycenter of a quadrangle that constructed from feature points for outdoor autonomous mobile robots. / Kawamura, Hidefumi; Iwata, Shohei; Sahashi, Shota; Hasegawa, Tadahiro.

2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012. 2012. p. 316-318 6492430.

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

Kawamura, H, Iwata, S, Sahashi, S & Hasegawa, T 2012, Visual attitude control using a virtual barycenter of a quadrangle that constructed from feature points for outdoor autonomous mobile robots. in 2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012., 6492430, pp. 316-318, 23rd Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2012, Nagoya, 12/11/4. https://doi.org/10.1109/MHS.2012.6492430
Kawamura H, Iwata S, Sahashi S, Hasegawa T. Visual attitude control using a virtual barycenter of a quadrangle that constructed from feature points for outdoor autonomous mobile robots. In 2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012. 2012. p. 316-318. 6492430 https://doi.org/10.1109/MHS.2012.6492430
Kawamura, Hidefumi ; Iwata, Shohei ; Sahashi, Shota ; Hasegawa, Tadahiro. / Visual attitude control using a virtual barycenter of a quadrangle that constructed from feature points for outdoor autonomous mobile robots. 2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012. 2012. pp. 316-318
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