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

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012
ページ316-318
ページ数3
DOI
出版物ステータスPublished - 2012 12 1
イベント23rd Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2012 - Nagoya, Japan
継続期間: 2012 11 42012 11 7

出版物シリーズ

名前2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012

Conference

Conference23rd Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2012
Japan
Nagoya
期間12/11/412/11/7

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • これを引用

    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. : 2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012 (pp. 316-318). [6492430] (2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012). https://doi.org/10.1109/MHS.2012.6492430