Trajectory generation of a mobile robot using inertial sensors and vision

In this paper, we propose a new remote control algorithm for mobile robot. Initially, the remote controller which consists of a camera and inertial sensors captures four circle landmarks on a robot. After moving the remote controller to point to a desired destination position, the camera´s pointing trajectory is estimated using an inertial navigation algorithm and transmitted to the robot using a wireless module. The robot follows the camera´s pointing trajectory when it is out of camera´s range of view or the remote controller moves quickly.