Teleoperation system for a mobile robot with visual servo mechanism based on automatic template generation

摘要

In this paper, a teleoperation system for a mobile robot with visual servo mechanism is developed. The teleoperation system has two kinds of motions: rough motion and accurate motion. In the rough motion, the mobile robot is controlled manually. In the accurate motion, it is done autonomously by visual servoing, where the template matching technique is used to realize the visual servoing. The template image is automatically generated by only assigning one pixel of the target object. The usefulness of the developed teleoperation system is evaluated by experimental result for the automatic template generation and the teleoperation.