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

Content Provider	IEEE Xplore Digital Library
Author	Capparella, F. Freda, L. Malagnino, M. Oriolo, G.
Copyright Year	2005
Description	Author affiliation: Dipt. di Informatica e Sistemistica, Univ. di Roma "La Sapienza", Italy (Capparella, F.; Freda, L.; Malagnino, M.; Oriolo, G.)
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.
Starting Page	2737
Ending Page	2743
File Size	391527
Page Count	7
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545274
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Mobile robots Robot vision systems Trajectory Cameras Target tracking Motion planning Feedback Filtering Strategic planning nonholonomy interception
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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