Development of a high-speed and high-precision visual target following system using a mobile robot
| Project/Area Number |
22760193
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Seikei University |
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Principal Investigator |
ITO Masahide 成蹊大学, 理工学部, 助教 (60459237)
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| Project Period (FY) |
2010 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥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)
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| 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 |
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| 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.
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Report
(3 results)
Research Products
(22 results)
