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

Koichi Hashimoto, Teruhito So, Toshiro Noritsugu

Research output: Contribution to journalArticlepeer-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 languageEnglish
Pages (from-to)3984-3990
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume66
Issue number652
DOIs
Publication statusPublished - 2000
Externally publishedYes

Keywords

  • Moving Robot
  • Nonlinear Control
  • Sensor

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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