Vision-based interception of a moving target by a mobile robot
2007 (English)In: Proceedings of the 2007 IEEE conference on control applications, vols 1-3, New York: IEEE conference proceedings, 2007, 397-402 p.Conference paper (Refereed)Text
We present a robot navigation technique, termed circular navigation guidance (CNG), which solves the challenging problem of intercepting a moving target from a specific angle, using only data from a video camera. The guidance law is not split into path-planning and path-following stages, but is continuously updated based on immediately available information, making it practical even against a manoeuvring target, or where only incomplete information is available to the robot. This is achieved by converting a finite-time navigation problem into one of maintaining a certain geometric condition at all tunes. Theoretical and experimental results are presented, which support CNG as a practically useful tool for robot navigation.
Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2007. 397-402 p.
, IEEE International Conference on Control Applications, ISSN 1085-1992
H-infinity control, uncertain systems, absolute stabilizability, missile guidance, navigation, objects
Robotics Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:umu:diva-118235ISI: 000253024000009ISBN: 978-1-4244-0442-1OAI: oai:DiVA.org:umu-118235DiVA: diva2:912047
IEEE Conference on Control Applications, OCT 01-03, 2007, Singapore, Peoples Republic of China