基于Beaglebone Black嵌入式系统的差动移动机器人实时模型视觉伺服应用

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI:10.1109/IRIS.2015.7451609

I. Siradjuddin, S. P. Tundung, Agustien S. Indah, S. Adhisuwignjo

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引用次数: 15

摘要

提出了一种基于模型的视觉伺服(MBVS)控制策略，用于安装在机器人平台上的单摄像头差动驱动移动机器人导航。利用四点图像特征计算左、右车轮角速度。利用视觉伺服平台(ViSP)库对基于模型的视觉伺服方案进行了仿真。仿真结果表明了所设计控制律的有效性。在图像空间和控制输入空间分别测量了控制律的性能。以Beaglebone Black为主要硬件控制器的实时实验验证了MBVS的有效性。

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A real-time Model Based Visual Servoing application for a differential drive mobile robot using Beaglebone Black embedded system

This paper presents a Model Based Visual Servoing (MBVS) control strategy for a differential drive mobile robot navigation using single camera attached on the robot platform. Four points image features are used to compute the angular velocities of the right wheel and the left wheel. The model based visual servoing scheme was simulated using visual servoing platform (ViSP) libraries. The simulation results show the effectiveness of the designed control law. The control law performances are measured both in the image space and in the control input space. The effectiveness of the MBVS has also been verified in real-time experiments using Beaglebone Black as the main hardware controller.

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来源期刊

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)

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