Conference Paper

Chasing an elusive target with a mobile robot

INRIA, Montbonnot
DOI: 10.1109/IROS.2001.977172 Conference: Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on, Volume: 3
Source: IEEE Xplore

ABSTRACT This paper describes how a mobile robot (a six-wheeled Koala
equipped with a PAL pan-tilt camera) can chase an elusive target (a
remote controlled toy car) in a unknown and unconstrained environment.
First, the paper demonstrates the efficiency, simplicity, and adequacy
of Bayesian robot programming to quickly develop such applications.
Next, it illustrates that a high information compression ratio may be
obtained by some pertinent sensory-motor decoupling

  • [Show abstract] [Hide abstract]
    ABSTRACT: To analyze the characteristic of an onboard pan-tilt control system to enable an unmanned aerial vehicle (UAV) to Track a ground target, and to verify the stability of the tracking controller and to test the performance of the controller, an experiment platform for pan-tilt control of a small scale autonomous helicopter is designed and then implemented. The system consists of four components including the model of the helicopter, pan-tilt camera, onboard equipment and ground control center. Moreover, the control software is developed by using C++ based on the Visual Studio environment, where multi-threading technique is adopted to make the modules independent of each other. The system not only reliably reflects the dynamics of a practical pan-tilt control system of a small scale autonomous helicopter, but also provides friendly user interface which brings much convenience to implemented and then tested various control strategies. Finally, all the function modules are tested in the ground and air condition respectively, and the obtained experiment results demonstrates the reliability of the system.
  • [Show abstract] [Hide abstract]
    ABSTRACT: The objective of this research is to operate a radio-controlled car (RC car) by using Thai voice commands. The research was conducted by sending a user's voice commands to a computer machine, and then the computer converted the voice commands into digital signal. After that, the digital signal was converted into a radio wave commands. Finally, an RC car operated based on the radio wave commands. The experiment was conducted on the RC car with five Thai voice commands, which were: 1) Stop, 2) Forward, 3) Backward, 4) Turn Left, and 5) Turn Right. The experimental precisions are 98.2%, 93.0% and 44.2% in a quiet room, an office room and a noisy room, respectively.
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: A novel vision-based scheme is presented for driving a nonholonomic mobile robot to intercept a moving target. The proposed method has a two-level structure. On the lower level, the pan–tilt platform carrying the on-board camera is controlled so as to keep the target as close as possible to the center of the image plane. On the higher level, the relative position of the target is retrieved from its image coordinates and the camera pan–tilt angles through simple geometry, and used to compute a control law which drives the robot to the target. Various possible choices are discussed for the high-level robot controller, and the associated stability properties are rigorously analysed. The proposed visual interception method is validated through simulations as well as experiments on the mobile robot MagellanPro.
    Robotics and Autonomous Systems. 01/2007;