Vision-based playback method of wheeled mobile robots

This paper describes a new vision-based playback method of a wheeled mobile robot. The path of the robot is divided into straight line parts and curve d line parts. The curved line parts were approximated by a Bezier curve to decrease the volume of data. In order to track the curved line parts with g ood accuracy, tracking errors were detected by referring to two pre-recorde d images on one part of the curve. Then, the errors were corrected by adjus ting the control points of the Bezier curve. Outdoor experiments demonstrat ed good repeatability by using the proposed method.