Autonomous Path Travel Control of Mobile Robot Using Internal and External Camera Images in GPS-Denied Environments

In this study, we developed a system for calculating the relative position and angle between a mobile robot and a marker using information such as the size of the marker of the internal camera of the mobile robot. Using this information, the mobile robot runs autonomously along the path given by the...

Full description

Saved in:
Bibliographic Details
Published in:Journal of robotics and mechatronics 2021-12, Vol.33 (6), p.1284-1293
Main Authors: Yamada, Keita, Koga, Shoya, Shimoda, Takashi, Sato, Kazuya
Format: Article
Language:English
Subjects:
Cameras
Markers
Robot control
Robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this study, we developed a system for calculating the relative position and angle between a mobile robot and a marker using information such as the size of the marker of the internal camera of the mobile robot. Using this information, the mobile robot runs autonomously along the path given by the placement of the marker. In addition, we provide a control system that can follow a trajectory using information obtained by recognizing the mobile robot when reflected in an external camera using deep learning. The proposed method can easily achieve autonomous path travel control for mobile robots in environments where GPS cannot be received. The effectiveness of the proposed system is demonstrated under several actual experiments.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2021.p1284