NDLI: Positioning and Aiming Algorithm of Target in the 3D Space

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Positioning and Aiming Algorithm of Target in the 3D Space

Content Provider	Scilit
Author	Yang, Ting Jia, Chao Chuan Fan, Bing Hui He, Fu Gui
Copyright Year	2018
Description	Journal: Iop Conference Series: Materials Science and Engineering Target's positioning and aiming is one of the most significant function for robotic system in high-risk environment, especially for the anti-terror work robot. A novel target positioning and aiming method was proposed in this paper. The method had achieved target's positioning and aiming by positioning unit and aiming unit, separately, which are in the environment that people can't reach. The positioning unit is formed by laser rangefinder(LR), 2-D pan/tilt and CCD camera; the aiming unit is formed by 2-D pan/tilt and firearm. The coordinate system of the model was built by using the D-H coordinate system defined method; the target position within the basic coordinate system on the aiming unit can be obtained through the positioning algorithm by using Transform Matrix(TM) and the distance of the LR on the positioning unit, which as the input of the aiming unit, using the inverse kinematics model of the aiming unit, then the target can be aimed by the firearm through controlling the steering engines on the aiming unit. Despite the existence of error, however, the test analysis showed that the effectiveness of this method is verified, and guarantees a certain degree of real-time performance and operability. It also has some promotion significance in engineering.
Related Links	http://iopscience.iop.org/article/10.1088/1757-899X/382/5/052002/pdf
ISSN	17578981
e-ISSN	1757899X
DOI	10.1088/1757-899x/382/5/052002
Journal	Iop Conference Series: Materials Science and Engineering
Issue Number	5
Volume Number	382
Language	English
Publisher	IOP Publishing
Publisher Date	2018-07-12
Access Restriction	Open
Subject Keyword	Journal: Iop Conference Series: Materials Science and Engineering Industrial Engineering Coordinate System
Content Type	Text
Resource Type	Article

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