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

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    • "[4] Christophe C. and Pierre B. applied a mobile robot for chasing an elusive target in an unknown and unconstrained environment. [5] Yeung Y. and Kai M. T. scaled down a driver-tested performance by using an RC car as the output of the evaluation. [6] Kenichi A. et al. controlled an RC car via the internet network by putting the computer server on the second floor and using a client to manage the RC car on the eighth floor of the same building. "

    Preview · Article · Jan 2011
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    • "In [14], a wheeled vehicle tracks a trajectory represented in terms of image sequences of an object, and the controlled camera motion is used as an input for visual servoing. A similar concept was used in [5]: while the camera tracks the ball on the image plane, pan and tilt angles are used as a visual input for a probabilistic motion control scheme. "
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    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.
    Full-text · Article · Jun 2007 · Robotics and Autonomous Systems
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    • "In [12], a wheeled vehicle tracks a trajectory represented in terms of image sequences of an object, and the controlled camera motion is used as an input for visual servoing. A similar idea was used in [13]: while the camera tracks the ball on the image plane, pan and tilt angles are used as a visual input for a probabilistic motion control scheme. "
    [Show abstract] [Hide abstract]
    ABSTRACT: We present a vision-based scheme for driving a nonholonomic mobile robot to intercept a moving target. Our method relies on a two-level approach. On the lower level, the pan-tilt platform which carries the on-board camera is controlled so as to keep the target at the center of the image plane. On the higher level, the robot operates under the assumption that the camera system achieves perfect tracking. In particular, the relative position of the ball is retrieved from the pan/tilt angles through simple geometry, and used to compute a control law driving the robot to the target. Various possible choices are discussed for the high-level robot controller. The proposed visual interception method is validated through simulations as well as experiments on the mobile robot MagellanPro.
    Full-text · Conference Paper · Sep 2005
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