Autonomous running technique by visual servoing considering route transition and running behavior

摘要

Visual serving is one type of vision-based robot movement control. Measurement of robot's own position is not required because the movement of the robot is controlled to match the image obtained by the vision sensors on the robot to a given image (teaching image) obtained beforehand. In this paper we propose an autonomous running technique of visual servoing in consideration of Route transition and rough running behavior to reach the position of obtaining a teaching image.