Title :
A novel method for vision tracking with line of sight control, using a fuzzy logic controller and Euler angle orientation in the feedforward loop
Author :
Park, Jaehong ; Bahn, Wook ; Lee, Chang-hun ; Tae-Il Kim ; Kim, Tae-il ; Cho, Dong-il Dan
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Seoul Nat. Univ., Seoul, South Korea
Abstract :
This paper presents a novel method for vision tracking with line of sight control. The line of sight control for the vision tracking is an important function for various robot applications. However, when a robot is moving fast, it is difficult to keep the camera´s sight towards a specific target, using only a vision feedback controller, due to the limitation in vision processing capabilities. In the proposed method, a feedforward controller based on robot position information is implemented to improve the tracking performance. The translational motion of the robot is estimated using a fuzzy logic controller and a slip detector. In addition, an Euler angle expression is used to calculate the robot orientation in 3-D space. Then, a vision-based feedback controller is added to compensate for the feedforward targeting error. To evaluate the performances, the developed vision tracking system is implemented on a mobile robot, and various experiments are performed. Experimental results show excellent tracking and recognition performances.
Keywords :
feedback; feedforward; fuzzy control; mobile robots; robot vision; target tracking; 3D space; Euler angle orientation; feedforward controller; feedforward loop; feedforward targeting error; fuzzy logic controller; line of sight control; mobile robot; robot orientation; robot position information; slip detector; translational motion; vision feedback controller; vision processing capabilities; vision tracking; Fuzzy logic; Machine vision; Mobile robots; Robot sensing systems; Target tracking; Euler angel; feedback controller; feedforward controller; fuzzy logic controller; line of sight control; vision tracking system;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6145950