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http://dx.doi.org/10.5302/J.ICROS.2007.13.9.896

Linear Velocity Control of the Mobile Robot with the Vision System at Corridor Navigation  

Kwon, Ji-Wook (아주대학교 전자공학부)
Hong, Suk-Kyo (아주대학교 전자공학부)
Chwa, Dong-Kyoung (아주대학교 전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.9, 2007 , pp. 896-902 More about this Journal
Abstract
This paper proposes a vision-based kinematic control method for mobile robots with camera-on-board. In the previous literature on the control of mobile robots using camera vision information, the forward velocity is set to be a constant, and only the rotational velocity of the robot is controlled. More efficient motion, however, is needed by controlling the forward velocity, depending on the position in the corridor. Thus, both forward and rotational velocities are controlled in the proposed method such that the mobile robots can move faster when the comer of the corridor is far away, and it slows down as it approaches the dead end of the corridor. In this way, the smooth turning motion along the corridor is possible. To this end, visual information using the camera is used to obtain the perspective lines and the distance from the current robot position to the dead end. Then, the vanishing point and the pseudo desired position are obtained, and the forward and rotational velocities are controlled by the LOS(Line Of Sight) guidance law. Both numerical and experimental results are included to demonstrate the validity of the proposed method.
Keywords
vision-based kinematic control; mobile robots; camera on board; corridor; vanishing point; pseudo desired position; LOS(Line Of Sight); guidance law;
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