線形ビジュアルサーボによる全方向移動ロボットの位置と姿勢の制御

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  • Position and Orientation Control of Omnidirectional Mobile Robot by Linear Visual Servoing

説明

We propose position and orientation control method of Omnidirectional Mobile Robot by Liner Visual Servoing(LVS). We define both the new binocular visual space which represent attitude of the target using binocular visual coordinate of two markers and the new motion space of omnidirectional mobile robot to realize position and orientation control by LVS. It is robust to calibration error of camera angles, because it does not use camera angles to calculate feedback command. Simulation results are presented to demonstrate the effectiveness of the proposed method.

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