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

이동로봇에 장착된 능동 카메라를 이용한 이동물체의 추적과 포획

  • Published : 2001.09.01

Abstract

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.

Keywords

References

  1. I. Nakutani, H. Saito, T. Kubot, et al., 'Micro scanning laser range sensor for palnetary exploration,' Proc. of Int. Conf. on Integrated Micro/Nanotechnology for Space Application, vol. 1, pp. 232-236, 1995
  2. R. A. Brooks, 'A robust layered control system for a mobile robot,' IEEE J. of Robotics and Automation, vol. RA-2, no. 1, pp. 14-23, April, 1986
  3. R. E. Fayek, R. Liscano, and G. M. Karam, 'A system architecture for a mobile robot based on activities and a blackboard contro unit,' Pro. IEEE Int. Conf. on Robotics and Automation, pp. 267-274, 1993 https://doi.org/10.1109/ROBOT.1993.292157
  4. T. Komatsu, M. Uenohara, S. likura, H. Miura, and I. Shimoyama: 'Capture of free-flying payloads with flexible space manipulators,' NASA Conference on Space Telerobotics, pp. 35-44, 1989
  5. K. Daniilidis and C. Krauss, 'Real-time traking of moving objects with an active camera,' Real-time Imaging, Academic Press Limited, 1998
  6. N. Ayache. Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception. MIT Press, Cambridge MA, 1991
  7. P. M. Sharkey, D. W. Murray, S. Vandevelde, I. D Reid, and P. E. McLauchlan, 'A modular head/eye platform for real-time reactive vision,' Mechtronics vol. 3, pp. 517-535, 1993
  8. Jin-Woo Park, Jae-Han Park, and Jang-Myung Lee, 'Intelligent control of a mobile robot using fuzzy logic,' Proc. of ITC-CSCC '99, vol. 1, no. 585-588, 1999
  9. Russel F. Berg, 'Estimation and prediction for maneuvering target trajectories,' IEEE Trans. on Automatic Control, vol. AC-38, no. 3, Mar., 1983
  10. Steven M. Lavalle and Rajeer Shama, 'On motion planning in changing parially predictable enviroments,' The International Journal of Robotics Research, vol 16, no. 6, pp. 705-805, December, 1997 https://doi.org/10.1177/027836499701600605
  11. J. T. Feddema and C. S. G. Lee, 'Adaptive image feature prediction and control for visual tracking with a hand-eye coordinated camera,' IEEE Trans. Syst. Man. Cybernet. vol. 20, pp. 1172-1183, 1990 https://doi.org/10.1109/21.59979
  12. K. Hashimoto, T. Kimoto, T. Ebine, and H. Kimura, 'Manipulator control with image-based visual servo,' IEEE International Conference On Robotics and Automation, pp. 2267-2272, 1991 https://doi.org/10.1109/ROBOT.1991.131968
  13. P. K. Allen, A. Timcenko, B. Yoshimi, and P. Michelman, 'Trajectory filtering and prediction for automated tracking and grasping of a moving object,' IEEE International Conference on Robotics and Automation, pp. 1850-1856, 1992 https://doi.org/10.1109/ROBOT.1992.219958
  14. Yi. Ma, J. Kosecka, and S. S. Sastry, 'Vision guided navigation for a nonholonomic mobile robot,' IEEE Transaction on Robotics and automation, vol. 15, no. 3, pp. 521-536, June 1999 https://doi.org/10.1109/70.768184
  15. R. E. Kalman, 'A new approach to linear filtering and prediction problems,' Trans, ASME, J. Basic Eng, Series 82D, pp. 35-45, Mar. 1960
  16. H. W. Sorenson, 'Kalman filtering techniques,' Advances in Control Systems Theory and Applications, vol. 3, pp. 219-292, 1966
  17. J. Jang, C. Sun, and E. Mizutani, Neuro-Fuzzy and Soft Computing, Prentice-Hall, in. 1997