Abstract
Camera view centered mobile robot control is proposed to provide intuitive operation feeling. The proposed controller only requires the motion of the view point. If an operator indicates a reference in the camera coordinate frame by a joystick, the controller generates the optimal control inputs for the robot to move the view point to the reference considering the hardware constraints. The generalized model of the non-holonomic mobile robot with a camera is introduced to generate the discrete velocity input array for controlling the motion of the robot. Based on the model, the model based trajectory planning is achieved by QP (quadratic programing) problem with constraints. The proposed method was implemented to the mobile robot simulator so that the effectiveness is evaluated by comparing to the conventional controller. The experimental result shows the effectiveness of the proposed teleoperation system.
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