Abstract
Recently, visual feedback control system is becoming more attractive for mechatronics education due to the development of RGB-D cameras such as Kinect and Xtion. In this paper, an example of a simple visual feedback control system of a mobile robot with an axis-symmetric shape is introduced for mechatronics education which has to be demonstrated within a time limit of a lecture. Positions of a robot in image plane and projected plane can be calculated by referring to RGB stream and depth stream obtained from Xtion camera, respectively. As the first simple exercise, a virtual barrier fence is designed, so that a mobile robot can move within the virtual fence even without a real one. In addition, if a mobile robot has an axis-symmetric shape, e.g., circle, from the top view, it is difficult for a vision system to identify the orientation of the robot in the coordinate system. Another exercise is introduced to deal with an orientation following control using a forward direction vector. The forward direction vector can be calculated frompoint cloud data obtained by makingthe robot move forward for a short distance, e.g., 30 mm, every dynamic sampling period. The effectiveness and usability of the presented work is demonstrated experimentally.
| Original language | English |
|---|---|
| Title of host publication | Computer Vision and Simulation |
| Subtitle of host publication | Methods, Applications and Technology |
| Publisher | Nova Science Publishers, Inc. |
| Pages | 154-166 |
| Number of pages | 13 |
| ISBN (Electronic) | 9781634858038 |
| ISBN (Print) | 9781634857901 |
| Publication status | Published - Jan 1 2016 |
ASJC Scopus subject areas
- Economics, Econometrics and Finance(all)
- Business, Management and Accounting(all)