Feature-based visual target following for a nonholonomic wheeled mobile robot with a single camera

Ito, Masahide; Hiratsuka, Takahiro; Shibata, Masaaki

doi:10.1109/iecon.2010.5675117

Cited by 9 publications

(2 citation statements)

References 14 publications

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“…On the other hand, industrial manipulators which are used to convey baggage in the factory and so on are being developed [4]- [6]. In these cases, various robots are researched and developed.…”

Section: Introductionmentioning

confidence: 99%

Proposal of step climbing of wheeled robot using slip ratio control

Higashino

Fujimoto

Takase

et al. 2013

IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society

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This paper proposes a method which enables wheeled robot to climb a step that is higher than the radius of the wheel. In conventional method, this is impossible, because driving force of front wheel is not enough. This paper proposes a method utilizing the moment of impact between the wheel and the step to maximize the normal force, and hence the driving force of the front wheel. Effectiveness of the proposed method is verified by simulations and experiments.

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Section: Introductionmentioning

confidence: 99%

Proposal of step climbing of wheeled robot using slip ratio control

Higashino

Fujimoto

Takase

et al. 2013

IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society

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“…Based on IBVS, Wang et al [9], presented an adaptive backstepping control law to track a moving target. Ito et al [10], proposed a control scheme utilizing vision-based trajectory planning and tracking control to precisely generate a trajectory following a moving target. To meet field of view constraints, Xu et al [11], developed a three-step epipolar-based visual servoing for a mobile robot.…”

Section: Introductionmentioning

confidence: 99%

Visual Servo Control of a Legged Mobile Robot Based on Homography

Liu¹,

Zhang²,

Wang³

et al. 2020

Preprint

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Due to the intermittent motion of a legged mobile robot, an additional periodic movement must be introduced that directly affects the image processing accuracy and destabilizes the visual servo control of the robot. To address this problem, this paper investigates a control scheme for the visual servoing of a legged mobile robot equipped with a fixed monocular camera. The kinematics of the legged mobile robot and homography- based visual servoing are employed to allow the robot to achieve the desired pose. By investigating the homographic relationship between the current and desired poses, the approach has no need for transcendental knowledge of the three-dimensional geometry of the target image. The feature points are directly extracted from the images to evaluate the homography matrix. To reduce the effects caused by the intermittent motions of the legged robot, an improved adaptive median filter is proposed. Furthermore, a sliding mode controller is designed, and a Lyapunov-based approach is used to analyze the stability of the control system. With the aid of CoppeliaSim software, a simulation is implemented to verify the effectiveness of the proposed method.

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