A proposal of sensor fusion in cooperative system

Hitoshi Midorikawa, Kouhei Ohnishi

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

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.

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

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
国/地域Japan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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