| Issue |
MATEC Web Conf.
Volume 95, 2017
2016 the 3rd International Conference on Mechatronics and Mechanical Engineering (ICMME 2016)
|
|
|---|---|---|
| Article Number | 08006 | |
| Number of page(s) | 5 | |
| Section | Robot Design and Control | |
| DOI | https://doi.org/10.1051/matecconf/20179508006 | |
| Published online | 09 February 2017 | |
Mobile Robot Positioning by using Low-Cost Visual Tracking System
Production Engineering Department, Faculty of Engineering, King Mongut’s University of Technology North Bangkok, Thailand
This paper presents an application of visual tracking system on mobile robot positioning. The proposed method is verified on a constructed low-cost tracking system consisting of 2 DOF pan-tilt unit, web camera and distance sensor. The motion of pan-tilt joints is realized and controlled by using LQR controller running on microcontroller. Without needs of camera calibration, robot trajectory is tracked by Kalman filter integrating distance information and joint positions. The experimental results demonstrate validity of the proposed positioning technique and the obtained mobile robot trajectory is benchmarked against laser rangefinder positioning. The implemented system can successfully track a mobile robot driving at 14 cm/s.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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