Image-based path following control of mobile robots with central catadioptric cameras

Author

Hiramatsu, Toshifumi ; Fukao, Takanori ; Kurashiki, Keita ; Osuka, Koichi

Author_Institution

Dept. of Mech. Eng., Kobe Univ., Kobe, Japan

fYear

2009

fDate

12-17 May 2009

Firstpage

4045

Lastpage

4050

Abstract

The research of image-based control for nonholonomic mobile robots is a recent topic of mobile robots. There are few researches about image-based control of mobile robots with central catadioptric cameras. A central catadioptric camera is very effective to keep target objects in the camera field of view because of its wide area view. In this paper, a new image-based path following control method for a nonholonomic mobile robot with a central catadioptric camera is proposed in the image parameter space. It is confirmed by several simulation, indoor and outdoor experiments that the designed system has high performance and robustness in real world.

Keywords

cameras; control system synthesis; image processing; mobile robots; position control; central catadioptric cameras; image parameter space; image-based path following control; mobile robots; nonholonomic mobile robots; Automatic control; Cameras; Centralized control; Control design; Kinematics; Mobile robots; Orbital robotics; Robot control; Robot vision systems; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Conference_Location

Kobe

ISSN

1050-4729

Print_ISBN

978-1-4244-2788-8

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2009.5152675

Filename

5152675