線形ビジュアルサーボによる移動ロボットの追従制御

抄録

We propose a method for following motion control of the mobile robot by using Linear Visual Servoing (LVS). Following motion control is realized by the following motion of the body to the target object keeping a desired distance. Following motion control by using LVS is based on linear approximation of the transformation between binocular visual space and motion space of the mobile robot. Motion space is defined by translational velocity and rotational velocity of the robot coordinate system which is attached at the center of gravity of the mobile robot. Some experimental results are presented to demonstrate the effectiveness of the proposed method.