제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제7권9호
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  • Pages.741-748
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  • 2001
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

이동로봇에 장착된 능동 카메라를 이용한 이동물체의 추적과 포획

Tracking and Capturing a Moving Object Using Active Camera Mounted on a Mobile Robot

  • 발행 : 2001.09.01
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초록

In this paper, we propose a method of tracking and capturing a moving object by a mobile robot. The position of the moving object is acquired from the relation through color-based image information from a 2-DOF active camera mounted on the mobile robot. The direction and rotational angular velocity of the moving object are estimated using a state estimator. A Kalman fiber is used as the state estimator for taking characteristics of robustness against noises and uncertainties included in the input data. After estimating the trajectory of the moving object, we decide on the optimal trajectory and plan the motion of the mobile robot to capture the target object within the shortest distance and time. The effectiveness of the proposed method is demonstrated by the simulations and experiments.

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참고문헌

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