Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31106
The Development of Flying Type Moving Robot Using Image Processing

Authors: Suriyon Tansuriyavong, Yuuta Suzuki, Boonmee Choompol

Abstract:

Wheel-running type moving robot has the restriction on the moving range caused by obstacles or stairs. Solving this weakness, we studied the development of moving robot using airship. Our airship robot moves by recognizing arrow marks on the path. To have the airship robot recognize arrow marks, we used edge-based template matching. To control propeller units, we used PID and PD controller. The results of experiments demonstrated that the airship robot can move along the marks and can go up and down the stairs. It is shown the possibility that airship robot can become a robot which can move at wide range facilities.

Keywords: template matching, moving robot, airship robot, PID control

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1073347

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1196

References:


[1] Yosuke Tsukamoto, tracking the object using the "autonomy type airship robot," Hokuriku Advanced Institute of Science and Technology, 2002.
[2] Hisao Tsunoda, Hidenori Kawamura, Masato Yamamoto, Toshihiko Takaya, Azuma Ouchi, "Implementation of the position control by development and the PD control of balloon robot system", Information Processing Society paper magazine, Vol. 45, No. 6, pp.1715-1724, 2004.
[3] Hidenori Kawamura, Hisao Kadota,Masahito Yamamoto, Toshihiko Takaya, and Azuma Ohuchi, "Motion Design for Indoor Blimp Robot with PID Controller", Journal of Robotics and Mechatronics,Vol.17,No.5,pp.500-508,2005.
[4] Kenichi Tanaka, "Image media engineering", Kyouritsu publishing, Tokyo, 2010.
[5] Kazuo Hiroi, "What is PID control?," M system Giken, 2004.
[6] Ootani kouhei, "Autonomy control of the small airship using the visual sensor," Advanced Institute of Science and Technology, Nara, 2005.
[7] Kazuo Hiroi, "Configuration of the serialization PID control," M system Giken, 2004.
[8] Kazuhiko Terajima, Noriaki Katayama, Masaaki Ishikawa, Osamu Ono, Takanori Miyoshi, Akihiro Kaneshige, Yoshifumi Morita, Masashi Hamaguchi, Minoru Yamada, "System control engineering," Kazuhiko Terajima, Asakura Book, Tokyo, 2003.