Title :
Motion Control of Mobile Robot for Moving Object Capture and Shooting
Author :
Zhou, Ping ; Yu, Aihua ; Wu, Mingguang
Author_Institution :
Dept. of Automatics & Electron., Zhejiang Univ. of Sci. & Technol., Hangzhou
Abstract :
The robot soccer game based complex motion control has been widely studied for the moving object capture and shooting. A position prediction algorithm based on global vision is introduced in order to improve the accuracy and robustness of the vision system for tracking moving objects, including a Kalman filter, a dynamic window and an obstacle avoidance strategy. The novel method is successfully applied to the system for the dynamic capturing and shooting. The simulated experimental results show the proposed technique is effective.
Keywords :
Kalman filters; collision avoidance; image motion analysis; mobile robots; motion control; optimisation; target tracking; Kalman filter; dynamic window; mobile robot motion control; moving object capture; obstacle avoidance strategy; position prediction algorithm; vision system; Cameras; Computer vision; Machine vision; Mobile robots; Motion control; Motion planning; Prediction algorithms; Robot vision systems; Robotics and automation; Working environment noise;
Conference_Titel :
Industrial Informatics, 2006 IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
0-7803-9700-2
Electronic_ISBN :
0-7803-9701-0
DOI :
10.1109/INDIN.2006.275859
