Title :
Path planning using single camera and application for time-state control
Author :
Uehara, Koki ; Hidaka, Koichi
Author_Institution :
Dept. of Electr. & Electron. Eng., Tokyo Denki Univ., Tokyo, Japan
Abstract :
In this paper, the reduction method for the position error depended on odometry is proposed. The proposed method uses a camera. The method is applied to arbitrary path control via mobile robot based on time-state control form. Feature points on floor are measure through a camera and the reference path based on points is made by B-spline curve. Experiment is done and validity of this method is demonstrated.
Keywords :
image sensors; mobile robots; path planning; splines (mathematics); B-spline curve; arbitrary path control; feature points; mobile robot; odometry; path planning; position error; reduction method; single camera; time state control; time-state control; Cameras; Mobile robots; Robot kinematics; Robot vision systems; Splines (mathematics); Wheels; B-spline curve; nonholonomic; time-state control form; visual feedback control;
Conference_Titel :
SICE Annual Conference (SICE), 2012 Proceedings of
Conference_Location :
Akita
Print_ISBN :
978-1-4673-2259-1
