Title :
Camera view centered mobile robot control interface
Author :
Hirakawa, Naoto ; Takubo, Tomohito ; Ueno, Atsushi
Author_Institution :
Grad. Sch. of Eng., Osaka City Univ., Osaka, Japan
Abstract :
Camera view centered mobile robot control is proposed to provide intuitive operation feeling. The proposed controller only requires the direction of the desired motion of the viewpoint. If an operator indicates a reference in the camera coordinate frame by a joystick, the controller generates the optimal control inputs to follow the reference considering the hardware constraints. The proposed method was implemented to the nonholonomic mobile robot with a pan-tilt camera, and the operability was improved.
Keywords :
cameras; control engineering computing; interactive devices; mobile robots; optimal control; robot vision; telerobotics; user interfaces; camera coordinate frame; camera view centered mobile robot control interface; hardware constraints; joystick; optimal control inputs; pan-tilt camera; Cameras; Mobile robots; Planning; Robot kinematics; Robot vision systems; Trajectory;
Conference_Titel :
Micro-NanoMechatronics and Human Science (MHS), 2014 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4799-6678-3
DOI :
10.1109/MHS.2014.7006101
