Design and implementation of a stereo vision-guided omnidirectional mobile robot for real-time object tracking

Sho Tsung Kao, Chung Yi Yen, Ming-Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper presents the design and implementation of a visual servo system, which uses a stereo machine vision system to guide an omnidirectional mobile robot for real-time object tracking. The vision system consists of two image sensors so that the position of the target in the space can be obtained. The real-time vision system is placed on the omnidirectional mobile robot for navigation. The tracking control of the robot is done by feedback linearization combined with PID control. The tracking controller is implemented on a digital signal processor. For the machine vision system, the image processing algorithms are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. The effectiveness of the tracking controller and stereo machine vision system is verified through simulation and experimental studies.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages2968-2974
Number of pages7
ISBN (Print)9784907764364
Publication statusPublished - 2010

Fingerprint

Stereo vision
Mobile robots
Computer vision
Controllers
Feedback linearization
Three term control systems
Servomechanisms
Digital signal processors
Image sensors
Field programmable gate arrays (FPGA)
Navigation
Image processing
Robots

All Science Journal Classification (ASJC) codes

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

Cite this

Kao, S. T., Yen, C. Y., & Ho, M-T. (2010). Design and implementation of a stereo vision-guided omnidirectional mobile robot for real-time object tracking. In Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers (pp. 2968-2974). [5602904] Society of Instrument and Control Engineers (SICE).
Kao, Sho Tsung ; Yen, Chung Yi ; Ho, Ming-Tzu. / Design and implementation of a stereo vision-guided omnidirectional mobile robot for real-time object tracking. Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. Society of Instrument and Control Engineers (SICE), 2010. pp. 2968-2974
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Kao, ST, Yen, CY & Ho, M-T 2010, Design and implementation of a stereo vision-guided omnidirectional mobile robot for real-time object tracking. in Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers., 5602904, Society of Instrument and Control Engineers (SICE), pp. 2968-2974.

Design and implementation of a stereo vision-guided omnidirectional mobile robot for real-time object tracking. / Kao, Sho Tsung; Yen, Chung Yi; Ho, Ming-Tzu.

Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. Society of Instrument and Control Engineers (SICE), 2010. p. 2968-2974 5602904.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kao ST, Yen CY, Ho M-T. Design and implementation of a stereo vision-guided omnidirectional mobile robot for real-time object tracking. In Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. Society of Instrument and Control Engineers (SICE). 2010. p. 2968-2974. 5602904