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An autonomous miniature wheeled robot based on visual feedback control |
| CHEN Haichu |
| State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; |
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Abstract Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of the bi-corner driving principle. The robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distance. Its position and omni-direction motion are precise. A Charge Coupled Device (CCD) camera is used for measuring and for visual navi gation. A control system is developed. The precision of the position is 0.5 mm, the resolution is about 0.05 mm, and the maximum velocity is about 52 mm/s. The visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous locomotion.
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Issue Date: 05 June 2007
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