Following Motion Control of the Mobile Robot by Using Linear Visual Servoing

Following Motion Control of the Mobile Robot by Using Linear Visual Servoing

We propose a method for following motion control of the mobile robot by using Linear Visual Servoing (LVS). Following motion control is realized by the following motion of the body to the target object keeping a desired distance. Following motion control by using LVS is based on linear approximation...

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Veröffentlicht in:TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 2006/06/25, Vol.72(718), pp.1840-1847
Hauptverfasser: OKAMOTO, Kazuya, YAMAGUCHI, Kengo, MARU, Noriaki
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Sprache:eng ; jpn
Schlagworte:
Following Control
Linear Visual Servoing
Mobile Robot
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container_end_page 1847
container_issue 718
container_start_page 1840
container_title TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
container_volume 72
creator OKAMOTO, Kazuya
YAMAGUCHI, Kengo
MARU, Noriaki
description We propose a method for following motion control of the mobile robot by using Linear Visual Servoing (LVS). Following motion control is realized by the following motion of the body to the target object keeping a desired distance. Following motion control by using LVS is based on linear approximation of the transformation between binocular visual space and motion space of the mobile robot. Motion space is defined by translational velocity and rotational velocity of the robot coordinate system which is attached at the center of gravity of the mobile robot. Some experimental results are presented to demonstrate the effectiveness of the proposed method.
doi_str_mv 10.1299/kikaic.72.1840
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language eng ; jpn
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subjects Following Control
Linear Visual Servoing
Mobile Robot
title Following Motion Control of the Mobile Robot by Using Linear Visual Servoing
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