Title :
Development of path tracking control for omni-directional mobile robot using visual servo system
Author :
Fujisawa, Shinsuke ; Yamamoto, Takayuki ; Suita, Y. ; Sogo, Hiroyuki ; Yoshida, Takafumi
Author_Institution :
Takuma Nat. Coll. of Technol., Kagawa
Abstract :
Teleoperation research on the remote control of mobile robots using visual screens has grown increasingly popular. In this study, we designed a vision-based mobile robot navigation system. Furthermore, using this vision-based navigation system, we conducted path-tracking experiments of moving objects. For the moving object, we used an omni-directional mobile robot with excellent mobility. This paper presents various running experiment results relating to position and posture control by this navigation system
Keywords :
mobile robots; path planning; position control; robot vision; servomechanisms; telerobotics; mobile robots; omni-directional mobile robot; path tracking control; position control; posture control; remote control; teleoperation research; vision-based navigation system; visual screens; visual servo system; Control systems; Educational institutions; Feedback; Machine vision; Mobile robots; Navigation; Robot kinematics; Robot vision systems; Servomechanisms; Space technology;
Conference_Titel :
Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-7108-9
DOI :
10.1109/IECON.2001.975629
