Advanced SearchSearch Tips
Mobile Robot Destination Generation by Tracking a Remote Controller Using a Vision-aided Inertial Navigation Algorithm
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Mobile Robot Destination Generation by Tracking a Remote Controller Using a Vision-aided Inertial Navigation Algorithm
Dang, Quoc Khanh; Suh, Young-Soo;
  PDF(new window)
A new remote control algorithm for a mobile robot is proposed, where a remote controller consists of a camera and inertial sensors. Initially the relative position and orientation of a robot is estimated by capturing four circle landmarks on the plate of the robot. When the remote controller moves to point to the destination, the camera pointing trajectory is estimated using an inertial navigation algorithm. The destination is transmitted wirelessly to the robot and then the robot is controlled to move to the destination. A quick movement of the remote controller is possible since the destination is estimated using inertial sensors. Also unlike the vision only control, the robot can be out of camera's range of view.
Remote control;Inertial navigation algorithm;Position and orientation estimation;Mobile robot;
 Cited by
Tangible Tele-Meeting in Tangible Space Initiative,;;;;;

Journal of Electrical Engineering and Technology, 2014. vol.9. 2, pp.762-770 crossref(new window)
Tangible Tele-Meeting in Tangible Space Initiative, Journal of Electrical Engineering and Technology, 2014, 9, 2, 762  crossref(new windwow)
Autonomous Navigation of a Mobile Robot in Unknown Environment Based on Fuzzy Inference, Journal of the Korea Academia-Industrial cooperation Society, 2016, 17, 3, 292  crossref(new windwow)
Discrete-Time Circular Walking Pattern for Biped Robots, Journal of Electrical Engineering and Technology, 2016, 11, 5, 1395  crossref(new windwow)
S. K. Agrawal, X. Chen and J. C. Galloway, "Training special needs infants to drive mobile robots using force-feedback joystick," IEEE International Conference on Robotics and Automation (ICRA), 2010, pp. 4797-4802.

G. Bourhis and M. Sahnoun, "Assisted control mode for a smart wheelchair," IEEE 10th International Conference on Rehabilitation Robotics (ICORR), 2007, pp. 158-163.

G. Novak, "Roby-Go, a prototype for several MiroSOT soccer playing robot," Second IEEE International Conference on Computational Cyber-netics (ICCC), 2004, pp. 207-212.

G. Novak and S. Mahlknecht, "TINYPHOON a tiny autonomous mobile robot," Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE), 2005, pp. 1533-1538.

M. Achtelik, T. Zhang, K. Kuhnlenz and M. Buss, "Visual tracking and control of a quadcopter using a stereo camera system and inertial sensors," International conference on Mechatronics and Automation (ICMA), 2009, pp. 2863-2869.

B. Hartmann, N. Link and Gert F. Trommer, "Indoor 3D position estimation using low-cost inertial sensors and marker-based video tracking," IEEE/ION Position Location and Navigation Symposium (PLANS), 2010, pp. 319-326.

H. Q. P. Nguyen, H. J. Kang and Y. S. Suh, "A visualinertial servoing method for tracking object with two landmarks and an inertial measurement unit," International Journal of Control, Automation and Systems, Vol. 9, pp. 317-327, 2011. crossref(new window)

J. Chen and A. Pinz, "Structure and motion by fusion of inertial sensors and vision-based tracking," Proceedings of the 28th OAGM/AAPR Conference, 2004, pp. 55- 62.

L. L. Ong, M. Ridley, J. H. Kim, E. Nettleton and S. Sukkarieh, "Six DoF decentralised SLAM," Australasian Conference on Robotics and Automation, 2003, pp. 10-16.

C. P. Lu, G. D. Hager and E. Mjolsness, "Fast and globally convergent pose estimation from video images," IEEE transactions on pattern analysis and machine intelligence, Vol. 22, pp. 610-622, June 2000. crossref(new window)

M. A. Fischler and R. C. Bolles, "Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography," Communication of the ACM, Vol. 24, pp. 381-395, 1981. crossref(new window)

D. H. Titterton and J. L. Weston, Strapdown inertial navigation technology, Peter Peregrinus Ltd., IEE, 1997.

Y. S. Suh, S. K. Park, D. N. Kim and K. H. Jo, "Remote control of a moving robot using the virtual link," IEEE International Conference on Robotics and Automation, 2007, pp. 2343-2348.

D. A. Forsyth and J. Ponce, Computer vision: a modern approach, Prentice Hall, January, 2003.

Y. S. Suh and S. K. Park, "Pedestrian inertial navigation with gait phase detection assisted zero velocity updating," Proceedings of the 4th International Conference on Automation robots and agents (ICARA), 2009, pp. 336-341.

S. Lee, Y. Youm and W. Chung, "Control of car-like mobile robots for posture stabilization," Proceeding of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '99), Vol. 3, 1999, pp. 1745-1750.

B. S. Park, J. B. Park and Y. H. Choi, "Adaptive observer-based trajectory tracking control of nonholonomic mobile robots," International Journal of Control, Automation and Systems, Vol. 9, pp. 534-541, 2011. crossref(new window)

J. Borenstein and L. Feng, "Measurement and Correction of Systematic Odometry Errors in Mobile Robots," IEEE Journal of Robotics and Automation, Vol. 12, pp. 869-880, December, 1996. crossref(new window)