Verification of visual attitude control for outdoor autonomous mobile robots

Shohei Iwata, Shota Sahashi, Tadahiro Hasegawa

研究成果: Conference contribution

抄録

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
ホスト出版物のタイトル2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
出版者IEEE Computer Society
ページ319-320
ページ数2
DOI
出版物ステータスPublished - 2013
イベント2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju
継続期間: 2013 10 302013 11 2

Other

Other2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
Jeju
期間13/10/3013/11/2

Fingerprint

Attitude control
Mobile robots
Optical flows
Cameras
Robots

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. : 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

Verification of visual attitude control for outdoor autonomous mobile robots. / Iwata, Shohei; Sahashi, Shota; Hasegawa, Tadahiro.

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013. IEEE Computer Society, 2013. p. 319-320 6677375.

研究成果: Conference contribution

Iwata, S, Sahashi, S & Hasegawa, T 2013, Verification of visual attitude control for outdoor autonomous mobile robots. : 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013., 6677375, IEEE Computer Society, pp. 319-320, 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013, Jeju, 13/10/30. https://doi.org/10.1109/URAI.2013.6677375
Iwata S, Sahashi S, Hasegawa T. Verification of visual attitude control for outdoor autonomous mobile robots. : 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013. IEEE Computer Society. 2013. p. 319-320. 6677375 https://doi.org/10.1109/URAI.2013.6677375
Iwata, Shohei ; Sahashi, Shota ; Hasegawa, Tadahiro. / Verification of visual attitude control for outdoor autonomous mobile robots. 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013. IEEE Computer Society, 2013. pp. 319-320
@inproceedings{140e6d4527e64b4dbaeb4be98abc810c,
title = "Verification of visual attitude control for outdoor autonomous mobile robots",
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.",
keywords = "Autonomous mobile robots, Virtual barycenter, Visual attitude control",
author = "Shohei Iwata and Shota Sahashi and Tadahiro Hasegawa",
year = "2013",
doi = "10.1109/URAI.2013.6677375",
language = "English",
pages = "319--320",
booktitle = "2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013",
publisher = "IEEE Computer Society",

}

TY - GEN

T1 - Verification of visual attitude control for outdoor autonomous mobile robots

AU - Iwata, Shohei

AU - Sahashi, Shota

AU - Hasegawa, Tadahiro

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - Autonomous mobile robots

KW - Virtual barycenter

KW - Visual attitude control

UR - http://www.scopus.com/inward/record.url?scp=84899085356&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84899085356&partnerID=8YFLogxK

U2 - 10.1109/URAI.2013.6677375

DO - 10.1109/URAI.2013.6677375

M3 - Conference contribution

AN - SCOPUS:84899085356

SP - 319

EP - 320

BT - 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013

PB - IEEE Computer Society

ER -