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Vision-based playback method of wheeled mobile robots

Published online by Cambridge University Press:  01 May 2000

Yoshiyuki Kagami ,
Takashi Emura  and
Masayuki Hiyama
Yoshiyuki Kagami
Affiliation:
Department of Mechatronics and Precision Engineering, Tohoku University, 01 Aramaki-aza-Aoba, Aobaku, Sendai 980–8579 (Japan). E-mail: emura@emura.mech.tohoku.ac.jp://www.mechatronics.mech.tohoku.ac.jp
Takashi Emura
Affiliation:
Department of Mechatronics and Precision Engineering, Tohoku University, 01 Aramaki-aza-Aoba, Aobaku, Sendai 980–8579 (Japan). E-mail: emura@emura.mech.tohoku.ac.jp://www.mechatronics.mech.tohoku.ac.jp
Masayuki Hiyama
Affiliation:
Department of Mechatronics and Precision Engineering, Tohoku University, 01 Aramaki-aza-Aoba, Aobaku, Sendai 980–8579 (Japan). E-mail: emura@emura.mech.tohoku.ac.jp://www.mechatronics.mech.tohoku.ac.jp
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Abstract

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This paper describes a new vision-based playback method of a wheeled mobile robot. The path of the robot is divided into straight line parts and curved line parts. The curved line parts were approximated by a Bézier curve to decrease the volume of data. In order to track the curved line parts with good accuracy, tracking errors were detected by referring to two pre-recorded images on one part of the curve. Then, the errors were corrected by adjusting the control points of the Bézier curve. Outdoor experiments demonstrated good repeatability by using the proposed method.

Keywords

Robot visionAutomatic guided vehicleTeachingPlayback
Type
Research Article
Information
Robotica , Volume 18 , Issue 3 , May 2000 , pp. 281 - 286
Copyright
© 2000 Cambridge University Press