Image‐based visual target following for a nonholonomic wheeled mobile robot with a single fixed camera
Image‐based visual target following for a nonholonomic wheeled mobile robot with a single fixed camera
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DOI：
10.1002/tee.21818
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发表时间：
2012-12
影响因子：
1
通讯作者：
Masahide Ito;Takahiro Hiratsuka;M. Shibata
中科院分区：
文献类型：
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作者：
Masahide Ito;Takahiro Hiratsuka;M. Shibata
研究了单摄像机非完整轮式移动机器人的视觉目标跟踪问题。针对这一问题，提出了一种基于视觉的轨迹规划和跟踪控制相结合的控制方案。提出了基于图像视觉伺服的在线轨迹规划方法。其核心思想是对目标物体的运动进行补偿。特别是，我们关注由目标对象运动引起的视觉特征运动。因此，对生成的轨迹进行跟踪控制，即使目标物体在运动，也可以实现视觉目标的精确跟踪。我们提出的方案可以应用于例如自主守卫和观察的机器人系统。通过实验对控制系统的有效性进行了评估。©2012日本电气工程师学会。作者：John Wiley&Sons，Inc.
This paper addresses the problem of visual target following for a nonholonomic wheeled mobile robot with a single fixed camera. For the problem, we propose a control scheme composed of vision‐based trajectory planning and tracking control. We present online trajectory planning based on image‐based visual servoing. The key idea is to compensate the target object motion. In particular, we focus on visual feature motion resulting from the target object motion. Tracking control to the generated trajectory can therefore achieve visual target following precisely even if the target object is moving. Our proposed scheme can be applied to, e.g. robotic systems for autonomous guard and observation. The effectiveness of the control system is evaluated experimentally. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.