A proposal of sensor fusion in cooperative system

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI:10.1109/AMC.2004.1297917

H. Midorikawa, K. Ohnishi

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引用次数: 3

Abstract

The main problems in visual servo system are long sampling period and extent of visual field. For sampling period of camera used in general is longer than joint servo period, hidden oscillation is controversial. Also, if a object is out of visual field, motion control is impossible. This paper discusses such problems, taking assist mobile robot system for application. An assist mobile robot which mounts a camera supports a working mobile robot with various tasks including delivery and receipt of baggage and removal of obstacles. At the first step of this study, an assist mobile robot is controlled to track a working mobile robot. Here, It doesn't matter whether transmission facility between an assist mobile robot and a working mobile robot is available. This study proposes virtual image plane by sensor fusion of vision and encoder. Virtual image plane is developed by estimated feature. And estimation and correcting of image feature on virtual image plane are realized. In conclusion, motion control with disturbance observer on virtual image plane is designed. And the validity of proposed method is shown in simulation results.

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协作系统中传感器融合的一种方案

视觉伺服系统存在的主要问题是采样周期长、视野范围广。由于一般使用的摄像机的采样周期比关节伺服周期长，隐振荡存在争议。此外，如果一个物体在视野之外，运动控制是不可能的。本文以辅助移动机器人系统为例，对这些问题进行了探讨。安装了摄像头的辅助移动机器人支持工作的移动机器人执行各种任务，包括运送和接收行李以及清除障碍物。在本研究的第一步，控制辅助移动机器人跟踪工作的移动机器人。在这里，辅助移动机器人和工作移动机器人之间是否有传输设施并不重要。本文提出了一种基于视觉与编码器融合的虚拟图像平面。利用估计特征建立虚拟像面。实现了在虚拟像面上对图像特征的估计和校正。最后，设计了具有干扰观测器的虚像平面运动控制。仿真结果表明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.

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