Development of a high-speed and high-precision visual target following system using a mobile robot

• Project/Area Number: 22760193
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Seikei University
• Principal Investigator: ITO Masahide 成蹊大学, 理工学部, 助教 (60459237)
• Project Period (FY): 2010 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000); Fiscal Year 2011: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2010: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
• Keywords: ロボティクス / 視覚に基づく追尾 / 知能ロボティックス / 制御工学 / 機械力学・制御 / モデル化 / 知能機械

Research Abstract

This study has addressed a development of a high-speed and high-precision visual target following system using a wheeled mobile robot with an active camera. We have derived a visual target following control system in the case of using a fixed camera for a moving target and the case of using a pan camera for a stationary target. Also, we have proposed novel schemes for a depth estimation using a single camera and for avoiding robot joint limits. The performance of the proposed schemes has been evaluated experimentally.

Research Products

• [Journal Article] Image-based visual target following for a nonholonomic wheeled mobile robot with a single fixed camera (2012)
  • Author(s): Masahide Ito, Takahiro Hiratsuka, and Masaaki Shibata
  • Journal Title: IEEJ Transactions on Electrical and Electronic Engineering Volume: Vol.7, No.8(掲載決定)
  • Peer Reviewed
• [Journal Article] Non-delayed Visual Servo Control Admitting Joint Range of Motion Maximally (2012)
  • Author(s): 伊藤正英・柴田昌明
  • Journal Title: IEEJ Transactions on Industry Applications Volume: 132 Issue: 5 Pages: 588-595
  • DOI: 10.1541/ieejias.132.588
  • NAID: 10030606888
  • ISSN: 0913-6339, 1348-8163
  • Peer Reviewed
• [Journal Article] Visual servo control admitting joint range of motion maximally (2012)
  • Author(s): Masahide Ito and Masaaki Shibata
  • Journal Title: Lecture Notes in Control and Information Sciences(LNCIS) 422, Springer-Verlag London Pages: 225-235
  • DOI: 10.1007/978-1-4471-2343-9_19
  • ISBN: 9781447123422, 9781447123439
  • Peer Reviewed
• [Presentation] アクティブカメラを有す車輪移動ロボットに対する特徴点の仮想重心を用いた画像ベース視覚サーボ (2012)
  • Author(s): 江幡貴史・伊藤正英・柴田昌明
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: アクトシティ浜松
  • Year and Date: 2012-05-28
• [Presentation] PE性に基づく奥行き推定オブザーバに対するPE性回復動作と実験的検証 (2012)
  • Author(s): 浦井修也・伊藤正英・柴田昌明
  • Organizer: 第56回システム制御情報学会研究講演会
  • Place of Presentation: 京都テルサ
  • Year and Date: 2012-05-22
• [Presentation] PE性ベース奥行きオブザーバに対するPE性回復視覚サーボタスク (2012)
  • Author(s): 伊藤正英・浦井修也・柴田昌明
  • Organizer: 第12回計測自動制御学会制御部門大会
  • Place of Presentation: 奈良県文化会館
  • Year and Date: 2012-03-15
• [Presentation] PE性ベース奥行きオブザーバに対するPE性回復視覚サーボタスク (2012)
  • Author(s): 伊藤正英
  • Organizer: 第12回計測自動制御学会
  • Place of Presentation: 奈良県文化会館
  • Year and Date: 2012-03-15
• [Presentation] 関節可動範囲を最大許容する追従視制御 (2011)
  • Author(s): 伊藤正英・柴田昌明
  • Organizer: 平成23年電気学会産業部門大会
  • Place of Presentation: 琉球大学,沖縄
  • Year and Date: 2011-09-08
• [Presentation] 関節可動範囲を最大許容する追従視制御 (2011)
  • Author(s): 伊藤正英
  • Organizer: 平成23年電気学会産業応用部門大会
  • Place of Presentation: 琉球大学
  • Year and Date: 2011-09-08
• [Presentation] Visual servo control admitting joint range of motion maximally (2011)
  • Author(s): Masahide Ito and Masaaki Shibata
  • Organizer: 8th International Workshop on Roboto Motion and Control(RoMoCo2011)
  • Place of Presentation: Hotel Bukowy Dworek, Poland
  • Year and Date: 2011-06-17
• [Presentation] Visual servo control admitting joint range of motion maximally (2011)
  • Author(s): Masahide Ito
  • Organizer: Eighth International Workshop on Robot Motion and Control
  • Place of Presentation: Bukowy Dworek, Poland
  • Year and Date: 2011-06-17
• [Presentation] 冗長性による関節可動範囲の最大許容-視覚サーボへの応用と実験検証- (2011)
  • Author(s): 伊藤正英・柴田昌明
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: 岡山コンベンションセンター
  • Year and Date: 2011-05-27
• [Presentation] ロボットの関節可動範囲を最大許容した視覚サーボ (2011)
  • Author(s): 伊藤正英・柴田昌明
  • Organizer: 第55回システム制御情報学会研究発表講演会
  • Place of Presentation: 大阪大学コンベンションセンター
  • Year and Date: 2011-05-19
• [Presentation] Feature-based visual target following for nonholonomic wheeled mobile robot with single camera (2010)
  • Author(s): Masahide Ito, Takahiro Hiratsuka, and Masaaki Shibata
  • Organizer: 36th Annual Conference of the IEEE Industrial Electronics Society(IECON2010)
  • Place of Presentation: Renaissance Phenix Glendale Hotel & Spa, AZ, USA
  • Year and Date: 2010-11-10
• [Presentation] Feature-based visual target following for nonholonomic wheeled mobile robot with single camera (2010)
  • Author(s): 伊藤正英
  • Organizer: The 36th Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: Renaissance Phenix Glendale Hotel & Spa, AZ, USA
  • Year and Date: 2010-11-10
• [Presentation] 非ホロノミック車輪移動ロボットによる特徴ベース視覚追尾制御 (2010)
  • Author(s): 伊藤正英・平塚貴浩・柴田昌明
  • Organizer: 平成22年電気学会産業応用部門大会
  • Place of Presentation: 芝浦工業大学,東京
  • Year and Date: 2010-08-26
• [Remarks]
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  • URL: http://researchmap.jp/itomasa/
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  • URL: http://www.sd.seikei.ac.jp/~shibam/index.html
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  • URL: http://researchmap.jp/itomasa/
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  • URL: http://www.ee.seikei.ac.jp/~shibam/index.html
• [Remarks]
  • URL: http://researchmap.jp/itomasa/