TY - GEN
T1 - Vision-based Waypoints Tracking Control for an Amphibious Spherical Robot
AU - Hu, Yao
AU - Shi, Liwei
AU - Guo, Shuxiang
AU - Xing, Huiming
AU - Hou, Xihuan
AU - Liu, Yu
AU - Liu, Huikang
AU - Xia, Debin
AU - Li, Zan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - The localization plays an important role in the motion control and trajectory tracking of amphibious spherical robot. However, due to the complex environment in the water, some methods localization on land such as GPS cannot be applied to amphibious spherical robot. Therefore, a new method is needed to locate the amphibious spherical robot. This paper proposes an image recognition method using a global camera to locate the robot. In this method, the global camera is mounted on a platform with a known position, and the computer vision algorithm is used to identify the position of the amphibious spherical robot in the image, then calculate the coordinates and moving speed of the amphibious spherical robot. We applied this method to an amphibious spherical robot and verified it experimentally. In the experiment, the amphibious spherical robot can swim along the set rectangular trajectory by using this localization method, indicating that this localization method is effective.
AB - The localization plays an important role in the motion control and trajectory tracking of amphibious spherical robot. However, due to the complex environment in the water, some methods localization on land such as GPS cannot be applied to amphibious spherical robot. Therefore, a new method is needed to locate the amphibious spherical robot. This paper proposes an image recognition method using a global camera to locate the robot. In this method, the global camera is mounted on a platform with a known position, and the computer vision algorithm is used to identify the position of the amphibious spherical robot in the image, then calculate the coordinates and moving speed of the amphibious spherical robot. We applied this method to an amphibious spherical robot and verified it experimentally. In the experiment, the amphibious spherical robot can swim along the set rectangular trajectory by using this localization method, indicating that this localization method is effective.
KW - Amphibious Spherical Robot
KW - Computer Vision
KW - Waypoint tracking
UR - http://www.scopus.com/inward/record.url?scp=85072407077&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2019.8816304
DO - 10.1109/ICMA.2019.8816304
M3 - Conference contribution
AN - SCOPUS:85072407077
T3 - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
SP - 2434
EP - 2438
BT - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
Y2 - 4 August 2019 through 7 August 2019
ER -