| 言語種別 | 英語 |
|---|---|
| 発行・発表の年月 | 2017/09 |
| 形態種別 | 国際会議論文 |
| 査読 | 査読あり |
| 標題 | Avoidance Control for Moving Object Based on Feature Point via Optical Flow and Image Space Observer |
| 執筆形態 | 共著 |
| 掲載誌名 | Proc. SICE annual Conference2017 |
| 掲載区分 | 国内 |
| 出版社・発行元 | 計測自動制御学会 |
| 巻・号・頁 | 35-38 |
| 著者・共著者 | Koichi Hidaka, Akinobu Sori |
| 概要 | This paper proposes a visual servo control design for a wheeled mobile robot. This control is for a passing
system between a moving object. The controller detects the passable space based on optical flow, and a reference marker on image plane generates automatically by using the optical flow. The mobile robot goes through between a moving object, e.g., a transport robot in a factory. The system is a key technique for an automation factory. The proposed method applies disturbance observer to image noise and the disturbances in optical flow decrease. The validity of the proposed controller is investigated through an experiment cross a mobile robot. |