A proposal of sensor fusion in cooperative system

Hitoshi Midorikawa, Kouhei Ohnishi

研究成果: Paper

2 引用 (Scopus)

抜粋

The main problems in visual servo system are long sampling period and extent of visual field. For sampling period of camera used in general is longer than joint servo period, hidden oscillation is controversial. Also, if a object is out of visual field, motion control is impossible. This paper discusses such problems, taking assist mobile robot system for application. An assist mobile robot which mounts a camera supports a working mobile robot with various tasks including delivery and receipt of baggage and removal of obstacles. At the first step of this study, an assist mobile robot is controlled to track a working mobile robot. Here, It doesn't matter whether transmission facility between an assist mobile robot and a working mobile robot is available. This study proposes virtual image plane by sensor fusion of vision and encoder. Virtual image plane is developed by estimated feature. And estimation and correcting of image feature on virtual image plane are realized. In conclusion, motion control with disturbance observer on virtual image plane is designed. And the validity of proposed method is shown in simulation results.

元の言語English
ページ487-492
ページ数6
出版物ステータスPublished - 2004 7 12
イベントProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
継続期間: 2004 3 252004 3 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
Japan
Kawasaki
期間04/3/2504/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

フィンガープリント A proposal of sensor fusion in cooperative system' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    Midorikawa, H., & Ohnishi, K. (2004). A proposal of sensor fusion in cooperative system. 487-492. 論文発表場所 Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan.