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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A Capturing Algorithm of Moving Object using Single Curvature Trajectory

단일곡률궤적을 이용한 이동물체의 포획 알고리즘

  • Published : 2006.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

An optimal capturing trajectory for a moving object is proposed in this paper based on the observation that a single-curvature path is more accurate than double-or triple-curvature paths. Moving distance, moving time, and trajectory error are major factors considered in deciding an optimal path for capturing the moving object. That is, the moving time and distance are minimized while the trajectory error is maintained as small as possible. The three major factors are compared for the single and the double curvature trajectories to show superiority of the single curvature trajectory. Based upon the single curvature trajectory, a kinematics model of a mobile robot is proposed to follow and capture the moving object, in this paper. A capturing scenario can be summarized as follows: 1. Motion of the moving object has been captured by a CCD camera., 2. Position of the moving object has been estimated using the image frames, and 3. The mobile robot tries to follow the moving object along the single curvature trajectory which matches positions and orientations of the moving object and the mobile robot at the final moment. Effectiveness of the single curvature trajectory modeling and capturing algorithm has been proved, through simulations and real experiments using a 2-DOF wheel-based mobile robot.

Keywords

References

  1. K.-C. Henry Fok and M. R. Kabuka, 'A flexible multiple mobile robots system,' IEEE Transaction on Robotics and Automation, volume 8, no. 5, pp. 607-623, Oct. 1992 https://doi.org/10.1109/70.163785
  2. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control, John Wiley & Sons, 1989
  3. K. Hirai, M. Hirose, Y Haikawa and T. Takenaka, 'The Development of Honda Humanoid Robot,' in Proc. IEEE Int. Conf. on Robotics and Automations, pp. 1321-1326, 1998 https://doi.org/10.1109/ROBOT.1998.677288
  4. 문종만, '2 자유도 구륜 이동 로봇의 기구학적 보정과 궤적추적에 관한 연구,' 박사학위 논문, 경희대학교, 2000
  5. U. Larsson, J. Forsberg, and A. Wemersson, 'Mobile robot localization: integrating measurements from a time-of-flight laser,' IEEE Transaction on Industrial Electronics, vol. 43, no. 3, pp. 422-431, June 1996 https://doi.org/10.1109/41.499815
  6. Y-J. N, A Study on the reduction of Navigation error for Curvilinear navigation of Mobile Robot using Neural Network, 석사학위논문, 전남대학교, 2002
  7. K.-T. Song and W-H. Tang, 'Environment perception for a mobile robot using double ultrasonic sensors and a CCD camera,' IEEE Transactions on Industrial Electronics, vol. 43, no.3, pp. 372-379, June 1996 https://doi.org/10.1109/41.499809
  8. G. Dudek and M. Jenkin, Computational Principles of Mobile Robotics, Cambridge university press, 2000
  9. W. E. Dixon, D. M. Dawson, E. Zergeroglu and A. Behal, Nonlinear Control of Wheeled Mobile Robots, Springer, 2003
  10. S. I. Grossman and W. R. Derrick, Advanced engineering mathmatics, HarperCollins Publishers, 2000
  11. 황철호, 이상헌, 조방현, 이장명, '이동물체 포획을 위한 최적 경로 계획,' 제어.자동화.시스템공학 논문지 제 10 권 8호, pp. 696-702, 2004.8 https://doi.org/10.5302/J.ICROS.2004.10.8.696
  12. 박진우, 박재한, 윤경식, 이장명, '이동로봇에 장착된 능 동 카메라를 이용한 이동물체의 추적과 포획' 제어.자동화.시스템공학 논문지 제7권 제9호, pp. 741-748, 2001, 9