Image-based Control of an Autonomous Robot with Omnidirectional Vision

摘要

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.