Verification of visual attitude control for outdoor autonomous mobile robots

Shohei Iwata, Shota Sahashi, Tadahiro Hasegawa

研究成果: Paper

1 引用 (Scopus)

抜粋

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.

元の言語English
ページ319-320
ページ数2
DOI
出版物ステータスPublished - 2013 1 1
イベント2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of
継続期間: 2013 10 302013 11 2

Conference

Conference2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
Korea, Republic of
Jeju
期間13/10/3013/11/2

    フィンガープリント

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

これを引用

Iwata, S., Sahashi, S., & Hasegawa, T. (2013). Verification of visual attitude control for outdoor autonomous mobile robots. 319-320. 論文発表場所 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013, Jeju, Korea, Republic of. https://doi.org/10.1109/URAI.2013.6677375