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Vision-based interception of a moving target by a mobile robot
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2007 (English)In: Proceedings of the 2007 IEEE conference on control applications, vols 1-3, New York: IEEE conference proceedings, 2007, p. 397-402Conference paper, Published paper (Refereed)
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Text
Abstract [en]

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. p. 397-402
Series
IEEE International Conference on Control Applications, ISSN 1085-1992
Keyword [en]
H-infinity control, uncertain systems, absolute stabilizability, missile guidance, navigation, objects
National Category
Robotics Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:umu:diva-118235ISI: 000253024000009ISBN: 978-1-4244-0442-1 (print)OAI: oai:DiVA.org:umu-118235DiVA, id: diva2:912047
Conference
IEEE Conference on Control Applications, OCT 01-03, 2007, Singapore, Peoples Republic of China
Available from: 2016-03-15 Created: 2016-03-14 Last updated: 2018-03-15Bibliographically approved

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
  • rtf