Wrap-around View Equipped on Mobile Robot

Authors: Sun Lim, Sewoong Jun, Il-Kyun Jung

Abstract:

This paper presents a wrap-around view system with 4 smart cameras module and remote motion mobile robot control equipped with smart camera module system. The two-level scheme for remote motion control with smart-pad(IPAD) is introduced on this paper. In the low-level, the wrap-around view system is controlled or operated to keep the reference points lying around top view image plane. On the higher level, a robot image based motion controller is utilized to drive the mobile platform to reach the desired position or track the desired motion planning through image feature feedback. The design wrap-around view system equipped on presents such advantages as follows: 1) a satisfactory solution for the FOV and affine problem; 2) free of any complex and constraint with robot pose. The performance of the wrap-around view equipped on mobile robot remote control is proven by experimental results.

Keywords: four smart camera, wrap-around view, remote mobile robot control

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1329332

References:

[1] H. Cho and S.W. Kim, "Mobile robot localization using biased chirp-spread-spectrum ranging," IEEE Trans. Ind. Electron., vol.57, no. 8, pp.,2826-2835, Aug.2010.
[2] H. Huang, J. Yan, and T. Cheng, "Development and fuzzy control of a pope inspection robot," IEEE Trans. Ind. Electron., vol. 57, no. 3, pp. 1088-1095, Mar. 2010.
[3] L. Cai, A. B. Rad, and W. Chan, "An intelligent longitudinal controller for application in semiautonomous vehicles," IEEE Trans. Ind. Electron., vol. 57, no. 4, pp. 1487-1497, Apr. 2010.
[4] S. Odeh, R. Faqeh, L. A. Eid, and N. Shamasneh, "Vision-based obstacle avoidance of mobile robot using quantized spatial model," Amer. J. Eng. Appl. Sci., vol. 2, no. 4, pp.611-619,2009.
[5] P. Corke and S. Hutchinson, "A new partitioned approach to image based visual servo control," IEEE Trans. Robot. Autom., vol. 17, no. 4, pp. 507-515, Aug. 2001.
[6] N. Gans and S. Hutchinson, "An asymptotically stable switched sysem visual controller for eye in hand robots," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2003, pp. 735-742.