Image feature based navigation of nonholonomic mobile robots with active camera

Author

Hirukawa, Tatsuhiko ; Komada, Satoshi ; Hirai, Junji

Author_Institution

Mie Univ., Tsu

fYear

2007

fDate

17-20 Sept. 2007

Firstpage

2502

Lastpage

2506

Abstract

This paper proposes an image feature based navigation method for active camera mounted mobile robots that are affected by nonholonomic constraint. Since visual servo used for usual manipulators can´t be applied to the nonholonomic mobile robots as it is, visual servo is applied to tracking control of the active camera to track targets in the center of image plane. Moreover, posture of nonholonomic mobile robots from targets is controlled by image features of targets that are related to relative distance and angle between robots and targets. It is confirmed that the proposed method can navigate a mobile robot in front of a target through simulations.

Keywords

feature extraction; image sensors; mobile robots; navigation; path planning; robot vision; visual servoing; active camera mounted mobile robots; image feature based navigation method; nonholonomic mobile robots; tracking control; visual servo; Cameras; Manipulators; Mobile robots; Navigation; Production facilities; Robot kinematics; Robot sensing systems; Robot vision systems; Servomechanisms; Target tracking; Active camera; Image features; Keywords; Nonholonomic mobile robots; Visual servo;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE, 2007 Annual Conference

Conference_Location

Takamatsu

Print_ISBN

978-4-907764-27-2

Electronic_ISBN

978-4-907764-27-2

Type

conf

DOI

10.1109/SICE.2007.4421411

Filename

4421411