摘要：AbstractIn this paper, we propose a spatiotemporal light navigation system for tracking control of a low-performance robot. The spatiotemporal light navigation system is composed of a projector and a mobile robot equipped with a light sensor. The projector casts a binary image on the field, and the mobile robot detects the information of the image via the light sensor and is supposed to decide its action by means of a simple embedded logic. First, we formulated the tracking control problem as a problem to design the casting image and sensor position of the robot. Then, we proposed a design method of casting images based on halftone image processing and analyzed the stability of the tracking control system. Finally, we experimented with verifying the effectiveness of the proposed method.
