Path Planning Using Single Camera and Application for Time-State Control

摘要

In this paper, the reduction method for the position error depended on odometry is proposed. The proposed method uses a camera. The method is applied to arbitrary path control via mobile robot based on time-state control form. Feature points on floor are measure through a camera and the reference path based on points is made by B-spline curve. Experiment is done and validity of this method is demonstrated.