ビデオカメラを用いた車輪型移動ロボット用軌道計測システムの精度向上に関する研究 Trajectory Measurement System for Wheeled Robot Using CCD Camera
In order to analyze the mechanism of dead reckoning of wheeled robot, it is necessarry to measure the trajectory of robot. The authors made a measurement system using a CCD camera with electrically powered lens that tracks automatically a small wheeled robot using two servomotors. These servomotors have made possible to measure on large area and with high accuracy using zoom lens. After measuring and simulating the accuracy of this system, it was concluded that the main cause of measurement error is due to cross-coupling errors of tracking system. In order to calibrate measurement error, the authors used table look-up method, and it gave us satisfactory results. This paper describes methods for reducing the measurement errors and experimental results of actual trajectories of small wheeled robot.
計測自動制御学会論文集 34(6), 498-503, 1998-06-30
The Society of Instrument and Control Engineers