|
|
|
|
RI | Publications | Vision-Based Predictive Robotic Tracking of a Moving Target
|
|
Text only version of this site
Vision-Based Predictive Robotic Tracking of a Moving Target
A.E. Hunt and A.C. Sanderson
tech. report CMU-RI-TR-82-15, Robotics Institute, Carnegie Mellon University, January, 1982.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [2574 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| Abstract |
This work represents a more general approach to robotic system design than one based on predefined responses in a controlled environment. An implementation of a vision-based robotic tracking system is presented in which target trajectory predictions enable the robot to track and intercept a moving target. A host microcomputer receives target position information from a vision module, predicts the target's trajectory, and issues tracking commands to the robot controller.
Five predictive algorithms are derived for implementation in the system, including a Kalman and an augmented Kalman filter. The use of one-step as well as absolute and relative n-step predictions is investigated. The "best predictor" algorithm is presented, by which one of the five predictions is selected to be used as the robotic tracking command.
Using data from experimental trials, predictor results are compared and rcjbotic tracking performance and interception success are evaluated for the target both moving and after it comes to rest.
Constraints limiting the applicability of this implementation are discussed and possible improvements and extensions suggested.
| Notes |
Grant ID: #F33615-86-C-5-38
| Text Reference |
A.E. Hunt and A.C. Sanderson, Vision-Based Predictive Robotic Tracking of a Moving Target, tech. report CMU-RI-TR-82-15, Robotics Institute, Carnegie Mellon University, January, 1982.
| BibTeX Reference |
@techreport{Hunt_1982_45,
author = "Alison E Hunt and Arthur C Sanderson",
title = "Vision-Based Predictive Robotic Tracking of a Moving Target",
institution = "Robotics Institute, Carnegie Mellon University",
month = "January",
year = "1982",
number = "CMU-RI-TR-82-15",
address = "Pittsburgh, PA"
}