2011 Volume 77 Issue 774 Pages 460-469
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.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
Transactions of the Japan Society of Mechanical Engineers Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B
