Ball catching with omni-directional wheeled mobile robot and active stereo vision

Sho Tsung Kao, Yi Wang, Ming Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper considers the design and implementation of a visual servo system for catching a flying ball using an active stereo vision system, a static vision system, and an omni-directional wheeled mobile robot. These multi-camera vision systems are used to track the flying ball and guide the omni-directional mobile wheeled robot to catch it. The dynamic model of a flying ball and Kalman filter are used to mitigate measurement noise, estimate the position and velocity of the flying ball, and predict its future trajectory. The mathematical model of the omni-directional mobile robot is derived to facilitate the control design. Trajectory tracking control of the mobile robot is done by combining feedback linearization and proportional-integral-derivative (PID) control. Finally, the experimental setup is constructed, and control laws and image processing algorithms are implemented through digital signal processors. The effectiveness of the designed system is validated through experimental studies. The results show that the developed vision systems are able to track a flying ball and guide and navigate the robot to catch it.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1073-1080
Number of pages8
ISBN (Electronic)9781509014125
DOIs
Publication statusPublished - 2017 Aug 3
Event26th IEEE International Symposium on Industrial Electronics, ISIE 2017 - Edinburgh, Scotland, United Kingdom
Duration: 2017 Jun 182017 Jun 21

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other26th IEEE International Symposium on Industrial Electronics, ISIE 2017
CountryUnited Kingdom
CityEdinburgh, Scotland
Period17-06-1817-06-21

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Ball catching with omni-directional wheeled mobile robot and active stereo vision'. Together they form a unique fingerprint.

Cite this