ステレオカメラとマーカの併用による輝度外乱にロバストな室内運搬ロボットの移動方法の提案

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2015/08/01

タイトル(英語): Motion Control for an Automated Guided Vehicle in the Factory with a Stereo Camera

著者名: 石塚　裕也（東京電機大学工学研究科電気電子工学専攻），日高　浩一（東京電機大学　電気電子工学科）

著者名(英語): Yuya Ishizuka (Graduate School of Engineering of Tokyo Denki University), Koichi Hidaka (Tokyo Denki University, Electrical and Electronic Engineering)

キーワード: ビジュアルフィードバック，無人搬送車，輝度外乱，ステレオカメラ　　visual feedback control，automated guided vehicle，brightness disturbance，stereo camera

要約(英語): This paper presents a study of lineless control for an automated guided vehicle (AGV) by using a stereo camera and markers. This control is called visual servoing, and studies of vehicle robots using visual servoing are proposed nowadays. The usual visual servoing controls assume that the target can be observed clearly or the target cannot be instantaneously observed. When the AGV works in a factory, robustness to changes in brightness is important. On the other hand, moving control without the line on the floor is also required for an industrial transportation robot. With this background, we propose an AGV transport system without the line on the floor. The proposed guidance method has two modes, i.e., marker and nonmarker modes. The visual servo control of an AGV in the marker mode uses image-based control, and the visual servo control in the nonmarker mode uses position-based control. This algorithm uses three markers. The AGV moves from the start to the first marker and from the third marker to the goal controls in the marker mode. From the first marker to the second marker, the AGV must pass between cars. The AGV between these markers is controlled by image and position-based control. The usefulness of the proposed control system is demonstrated by experimental results under brightness disturbances.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.8 （2015）

本誌掲載ページ: 836-846 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/135/8/135_836/_article/-char/ja/