NDLI: Stereo Vision based Moving Target Tracking for Omni-directional Mobile Robots in 2D Space

Content Provider	IEEE Xplore Digital Library
Author	Jiin Ming Kuang Ming Liu
Copyright Year	2007
Description	Author affiliation: Monash Univ., Clayton (Jiin Ming Kuang; Ming Liu)
Abstract	This paper studies the problem of moving target tracking in 2D space by omnidirectional mobile robots using stereo vision. For a given moving target, by extracting its feature points using vision, the relative motion, including both position and velocity errors between the target and the robot can be estimated. Unlike the case of nonholonomic robot tracking whose path planning is a difficult task, in our vision based tracking of omnidirectional robots, the tracking path is directly specified by the estimated tracking errors. Given the dynamics of robots, a PD control is proposed which ensures the asymptotic stability of the tracking error if the target is moving with constant linear and rotational velocities, or the bounded-input-bounded-output (BIBO) stability if the target is moving with varying but bounded rotational and linear accelerations. Simulation results show the efficiency of the algorithm.
Starting Page	602
Ending Page	607
File Size	2649412
Page Count	6
File Format	PDF
ISBN	1424412196
DOI	10.1109/ICIA.2007.4295803
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-07-08
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Target tracking Motion estimation Robot vision systems Path planning path planning Mobile robots PD control tracking Orbital robotics Asymptotic stability Feature extraction Stereo vision omnidirectional mobile robot stereo vision
Content Type	Text
Resource Type	Article

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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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