Camera view centered mobile robot control interface

Camera view centered mobile robot control is proposed to provide intuitive operation feeling. The proposed controller only requires the direction of the desired motion of the viewpoint. If an operator indicates a reference in the camera coordinate frame by a joystick, the controller generates the optimal control inputs to follow the reference considering the hardware constraints. The proposed method was implemented to the nonholonomic mobile robot with a pan-tilt camera, and the operability was improved.