Visual Feedback Control of Cart based on Path Planning in Image Plane

Koichi Hashimoto; Teruhito So; Toshiro Noritsugu

doi:10.1299/kikaic.66.3984

Visual Feedback Control of Cart based on Path Planning in Image Plane

Koichi Hashimoto, Teruhito So, Toshiro Noritsugu

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

This paper presents a visual feedback control scheme for nonholonomic wheeled robots. The visual servo controller guides the robot to the goal by observing the feature points in the environment. The feature points are controlled directly in the image plane by using an image-based controller. Thus the possibility of missing the feature points is reduced considerably. Simulations are carried out to evaluate the validity of the proposed scheme and experiments on a radio controlled car with a CCD camera are also given.

Original language	English
Pages (from-to)	3984-3990
Number of pages	7
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	66
Issue number	652
DOIs	https://doi.org/10.1299/kikaic.66.3984
Publication status	Published - 2000
Externally published	Yes

Keywords

Moving Robot
Nonlinear Control
Sensor

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.66.3984

Cite this

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abstract = "This paper presents a visual feedback control scheme for nonholonomic wheeled robots. The visual servo controller guides the robot to the goal by observing the feature points in the environment. The feature points are controlled directly in the image plane by using an image-based controller. Thus the possibility of missing the feature points is reduced considerably. Simulations are carried out to evaluate the validity of the proposed scheme and experiments on a radio controlled car with a CCD camera are also given.",

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AU - So, Teruhito

AU - Noritsugu, Toshiro

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AB - This paper presents a visual feedback control scheme for nonholonomic wheeled robots. The visual servo controller guides the robot to the goal by observing the feature points in the environment. The feature points are controlled directly in the image plane by using an image-based controller. Thus the possibility of missing the feature points is reduced considerably. Simulations are carried out to evaluate the validity of the proposed scheme and experiments on a radio controlled car with a CCD camera are also given.

KW - Moving Robot

KW - Nonlinear Control

KW - Sensor

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Visual Feedback Control of Cart based on Path Planning in Image Plane

Abstract

Keywords

ASJC Scopus subject areas

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