全方向移動ロボットの開発

Abstract

We developed an omnidirectional mobile robot using four omniwheels. The system where the robot autonomous run from current position to the target position was constructed. The robot was setting up the omniwheel every 90 offset degrees. The kinematics of it was derived. The position and posture of the robot were acquired from the video camera set up outside. The robot controlled by positional feedback of the PID control. The color mark was put up on the robot. The position of the color mark was acquired by image data processing using the color threshold. The velocity command value was calculated from the position and posture of the robot and the target position. The value was transmitted to the robot through CUnet.