Development of a high-speed and high-precision visual target following system using a mobile robot

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This study has addressed a development of a high-speed and high-precision visual target following system using a wheeled mobile robot with an active camera. We have derived a visual target following control system in the case of using a fixed camera for a moving target and the case of using a pan camera for a stationary target. Also, we have proposed novel schemes for a depth estimation using a single camera and for avoiding robot joint limits. The performance of the proposed schemes has been evaluated experimentally.