Framework of Sensor Fusion Network for an Inverted Pendulum Mobile Robot KoRo

This paper shows a basic approach of stabilizing control and tracking method for keeping a sensing level using a pan-tilt unit on an inverted pendulum mobile robot. The mobile robot has just two wheels, which means that this robot is of an inverted pendulum type. Moreover it has several sensors. In this situation, the pitch angle is not always constant, and the data from the sensors are affected by it. Therefore, it is necessary to obtain precisely their posture such as position and angles, where the sensor devices should be controlled for the sensing level. A framework of tracking control by the pan-tilt unit for the inverted pendulum mobile robot is shown, and further some experimental results are demonstrated on the real robot system KoRo.

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“…3. This problem was referred in the previous work [7]. We explain dynamics of this kind of mobile robot again.…”

Section: Inverted Pendulum Mobile Robotmentioning

confidence: 85%

“…In the previous work, we reported a unique robot "KoRo" (abbr. Konan Robot) using this inverted pendulum mobile robot equipped by several sensors in a sense of sensor fusion algorithms [6]- [7].…”

Section: Introductionmentioning

confidence: 99%

A Study on Tracking Control of Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

Matsuda

Wada

Tanaka

et al. 2013

Stochastic Systems Theory and its Applications (SSS)

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“…The mobile robot has usually several sensors to detect pedestrians and moving obstacles, and to provide the self-position. In the previous work, we reported a unique campus robot "KoRo" using this mobile robot with several sensors [7] [8], and a tracking method using a pan-tilt unit on the mobile robot [9]. The pan-tilt unit is a useful device to control attached sensors for moving any direction.…”

Section: Introductionmentioning

confidence: 99%

Detection of Surface of the Road using Depth Sensor on the Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

Matsuda¹,

Hatakeyama²,

Takimura³

et al. 2014

Stochastic Systems Theory and its Applications (SSS)

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This paper shows a basic method to detect the surface of the road using a depth sensor and tracking method for keeping a sensing level using a pan-tilt unit on an inverted pendulum mobile robot. In our mobile robot system, the pitch angle of the robot is not always constant because of only two wheels, and the data from the sensors are affected by it. Therefore, it is necessary to obtain precisely their posture such as position and angles. In this study, a basic approach of detection of the surface of the road using tracking control method by a pan-tilt unit is shown. Furthermore, in order to realize a precise tracking control method, swing motion using real data obtained from the mobile robot is also predicted by an ARX process.

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“…The authors have been developing a moving robot, called as a "campus robot" [1,2], based on the RT-Component framework [3]. In robots, a method for tracking people is essential for interacting with people and following a target person.…”

Section: Introductionmentioning

confidence: 99%

Target-Tracking based on Fusion of Unsynchronized Sensor Data from Vision System and Thermal Imaging Sensor

Umetani

Kuga

Tanaka

et al. 2012

Transactions of ISCIE

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This paper proposes a method for the integration of sensor data from a thermal imaging sensor and a vision system such as a camera to enable autonomous robots to perform probabilistic target tracking. Person tracking is essential to enable robots to interact with people and to track a target person. It is necessary to integrate multiple types of sensor data to improve the recognition performance because that of a vision system alone is not very good. However, the sensor data from an imaging device are captured asynchronously. Moreover, the interval of the acquisition of the sensor data is different. We use a stochastic model based on the asynchronous updating of the model of the tracking target by using measurement data from the camera and the thermal imaging sensor. The tracking model is implemented using RT-Middleware, which is used as a platform for the construction of distributed networked robots. The experimental results indicate the feasibility of the proposed method.

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Framework of Sensor Fusion Network for an Inverted Pendulum Mobile Robot KoRo

Cited by 4 publications

References 6 publications

A Study on Tracking Control of Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

A Study on Tracking Control of Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

Detection of Surface of the Road using Depth Sensor on the Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

Target-Tracking based on Fusion of Unsynchronized Sensor Data from Vision System and Thermal Imaging Sensor

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