Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Objects Tracking of the Mobile Robot Using the Hybrid Visual Servoing

혼합 비주얼 서보잉을 통한 모바일 로봇의 물체 추종

  • Park, Kang-IL (Department of Interdisciplinary Program in Robotics, Pusan National University) ;
  • Woo, Chang-Jun (Department of Electronic and Electric and Computer Engineering, Pusan National University) ;
  • Lee, Jangmyung (Department of Electronic Engineering, Pusan National University)
  • 박강일 (부산대학교 로봇관련협동과정) ;
  • 우창준 (부산대학교 전자전기컴퓨터공학과) ;
  • 이장명 (부산대학교 전자공학과)
  • Received : 2014.12.09
  • Accepted : 2015.03.02
  • Published : 2015.08.01
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Abstract

This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research.

Keywords

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