{"title":"摄像头视图为中心的移动机器人控制界面","authors":"Naoto Hirakawa, T. Takubo, A. Ueno","doi":"10.1109/MHS.2014.7006101","DOIUrl":null,"url":null,"abstract":"Camera view centered mobile robot control is proposed to provide intuitive operation feeling. The proposed controller only requires the direction of the desired motion of the viewpoint. If an operator indicates a reference in the camera coordinate frame by a joystick, the controller generates the optimal control inputs to follow the reference considering the hardware constraints. The proposed method was implemented to the nonholonomic mobile robot with a pan-tilt camera, and the operability was improved.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Camera view centered mobile robot control interface\",\"authors\":\"Naoto Hirakawa, T. Takubo, A. Ueno\",\"doi\":\"10.1109/MHS.2014.7006101\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Camera view centered mobile robot control is proposed to provide intuitive operation feeling. The proposed controller only requires the direction of the desired motion of the viewpoint. If an operator indicates a reference in the camera coordinate frame by a joystick, the controller generates the optimal control inputs to follow the reference considering the hardware constraints. The proposed method was implemented to the nonholonomic mobile robot with a pan-tilt camera, and the operability was improved.\",\"PeriodicalId\":181514,\"journal\":{\"name\":\"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)\",\"volume\":\"24 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MHS.2014.7006101\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MHS.2014.7006101","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Camera view centered mobile robot control interface
Camera view centered mobile robot control is proposed to provide intuitive operation feeling. The proposed controller only requires the direction of the desired motion of the viewpoint. If an operator indicates a reference in the camera coordinate frame by a joystick, the controller generates the optimal control inputs to follow the reference considering the hardware constraints. The proposed method was implemented to the nonholonomic mobile robot with a pan-tilt camera, and the operability was improved.
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