2011 Fiscal Year Final Research Report
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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| Keywords | ロボティクス / 視覚に基づく追尾 |
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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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