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Image‐based visual target following for a nonholonomic wheeled mobile robot with a single fixed camera
Author(s) -
Ito Masahide,
Hiratsuka Takahiro,
Shibata Masaaki
Publication year - 2012
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.21818
Subject(s) - computer vision , mobile robot , artificial intelligence , nonholonomic system , computer science , single camera , robot
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.