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

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
發行者Society of Instrument and Control Engineers (SICE)
頁面2968-2974
頁數7
ISBN(列印)9784907764364
出版狀態Published - 2010 一月 1

出版系列

名字Proceedings of the SICE Annual Conference

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電腦科學應用
  • 電氣與電子工程

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