Trajectory Measurement System for Wheeled Robot Using CCD Camera

• EMURA Takashi

  Faculty of Engineering, Tohoku University

• SENTA Yosuke

  Faculty of Engineering, Tohoku University

• HIYAMA Masayuki

  Faculty of Engineering, Tohoku University

• KANEKO Tetsunori

  Hitachi, Ltd.

• ARAKAWA Akira

  Nikkou Ltd.

Bibliographic Information

Other Title

• 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
• ビデオカメラ オ モチイタ シャリンガタ イドウ ロボットヨウ キドウ ケイソ

Abstract

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.

Journal

• Transactions of the Society of Instrument and Control Engineers

  Transactions of the Society of Instrument and Control Engineers 34 (6), 498-503, 1998

  The Society of Instrument and Control Engineers

Keywords

• CCD camera
• trajectory sensor
• wheeled robot

Details

• CRID: 1390282679476770560
• NII Article ID: 10002492952
• NII Book ID: AN00072392
• DOI: 10.9746/sicetr1965.34.498
• ISSN: 18838189
• ISSN: 04534654
• NDL BIB ID: 4497173
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4497173
• Web Site: https://www.jstage.jst.go.jp/article/sicetr1965/34/6/34_6_498/_pdf
• Data Source:
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• Abstract License Flag: Disallowed