| 201A6 |
|---|
| Position recognition and control of a small mobile robot using visual information |
| AUTHORS |
| Junryo Takase, Gen'ichi Yasuda (Nagasaki Institute of Applied Science) |
| ABSTRACT |
| This paper presents an experimental study on positioning and movement control of a mobile robot in unknown environments. An experimental system has been constructed to examine various image processing and control algorithms using real robots. The user interface for the operator to send the command to the robot is also illustrated. The image from a single CCD camera on the top of a mobile robot is sent to a host computer (PC) with an image processing board. The image processing system detects the edge of a floor and estimates the position of the corner of a wall by calculating the intersection of two edges. Using visual information of detected edges and their intersections, the control software calculates the PWM duty cycle of each motor of a two-wheeled vehicle based on PID algorithms to follow the wall and turn at the corner. The control data is sent to the onboard computer with wireless modem. The onboard computer executes multitasking processing and responds to the command quickly. The computational performance of the visual feedback system is discussed, and experiments of positioning and movement control around the corner are presented. Some experimental results show that the control law using the visual information can drive the robot smoothly without collisions. |
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Annual Conference 2002