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Visual servoing of a wheeled mobile robot for intercepting a moving object

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 th...

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Main Authors:	Capparella, F., Freda, L., Malagnino, M., Oriolo, G.
Format:	Conference Proceeding
Language:	English
Subjects:	Cameras Feedback Filtering interception Mobile robots Motion planning nonholonomy Robot vision systems Strategic planning Target tracking Trajectory Visual servoing
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creator	Capparella, F. Freda, L. Malagnino, M. Oriolo, G.
description	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.
doi_str_mv	10.1109/IROS.2005.1545274
format	conference_proceeding
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The proposed visual interception method is validated through simulations as well as experiments on the mobile robot MagellanPro.</description><subject>Cameras</subject><subject>Feedback</subject><subject>Filtering</subject><subject>interception</subject><subject>Mobile robots</subject><subject>Motion planning</subject><subject>nonholonomy</subject><subject>Robot vision systems</subject><subject>Strategic planning</subject><subject>Target tracking</subject><subject>Trajectory</subject><subject>Visual servoing</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>0780389123</isbn><isbn>9780780389120</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2005</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNo9kE9PAjEUxBv_JCLyAYyXfoHF19d2tz0aooghIVHilbS7r1qyUNJdMX57UYlzmcNvZg7D2LWAsRBgb2fPi5cxAuix0EpjpU7YAIWWBZiyPGWXUBmQxgqUZ_9Amws26ro1HCStVqIasKfX2H24lneU9ylu33gK3PHPd6KWGr5JPrbEc_Kp5yFlHrc95Zp2_U_UHfj-t-PXVPdX7Dy4tqPR0Yds-XC_nDwW88V0NrmbF9FCXzgi46QnaRFFjTVhU8rGgrO2ssYDqiqgk64JQpNyQoWAnkApLMkKBXLIbv5mIxGtdjluXP5aHV-Q30MNTvI</recordid><startdate>2005</startdate><enddate>2005</enddate><creator>Capparella, F.</creator><creator>Freda, L.</creator><creator>Malagnino, M.</creator><creator>Oriolo, G.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>2005</creationdate><title>Visual servoing of a wheeled mobile robot for intercepting a moving object</title><author>Capparella, F. ; Freda, L. ; Malagnino, M. ; Oriolo, G.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-aee8a3be39221c2ce2d63d90a99798b0247f2a3adf15e4a14ff2be04426e91403</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Cameras</topic><topic>Feedback</topic><topic>Filtering</topic><topic>interception</topic><topic>Mobile robots</topic><topic>Motion planning</topic><topic>nonholonomy</topic><topic>Robot vision systems</topic><topic>Strategic planning</topic><topic>Target tracking</topic><topic>Trajectory</topic><topic>Visual servoing</topic><toplevel>online_resources</toplevel><creatorcontrib>Capparella, F.</creatorcontrib><creatorcontrib>Freda, L.</creatorcontrib><creatorcontrib>Malagnino, M.</creatorcontrib><creatorcontrib>Oriolo, G.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE/IET Electronic Library</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Capparella, F.</au><au>Freda, L.</au><au>Malagnino, M.</au><au>Oriolo, G.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Visual servoing of a wheeled mobile robot for intercepting a moving object</atitle><btitle>2005 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2005</date><risdate>2005</risdate><spage>2737</spage><epage>2743</epage><pages>2737-2743</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>0780389123</isbn><isbn>9780780389120</isbn><abstract>We present a vision-based scheme for driving a nonholonomic mobile robot to intercept a moving target. 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source	IEEE Xplore All Conference Series
subjects	Cameras Feedback Filtering interception Mobile robots Motion planning nonholonomy Robot vision systems Strategic planning Target tracking Trajectory Visual servoing
title	Visual servoing of a wheeled mobile robot for intercepting a moving object
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