Image-based Control of an Autonomous Robot with Omnidirectional Vision
Ziyuan Chen, Yucheng Chen, Yin-Tien Wang · 2007
An autonomous soccer robot system is developed in this research, and this system provided with an omnidirectional drive mechanism and an omni-directional vision. First of all, the forward and inverse differential kinematics of the omnidirectional robot is derived, based on which a kinematics controller of the robot is designed. Secondly, combined with the vision feedback, a servo control is devised based on an un-recovered image for the soccer robot to achieve specific actions autonomously. Finally, two different behaviors are planned, including object tracking and obstacle avoidance. The integrated system is tested on a soccer robot and the experimental results show that the behavior-based control is efficient in robot object tracking and obstacle avoidance.