Ball-catching system using image processing and an omni-directional wheeled mobile robot

Sho Tsung Kao, Ming Tzu Ho

研究成果: Article同行評審

1 引文 斯高帕斯(Scopus)

摘要

The ball-catching system examined in this research, which was composed of an omni-directional wheeled mobile robot and an image processing system that included a dynamic stereo vision camera and a static camera, was used to capture a thrown ball. The thrown ball was tracked by the dynamic stereo vision camera, and the omni-directional wheeled mobile robot was navigated through the static camera. A Kalman filter with deep learning was used to decrease the visual measurement noises and to estimate the ball’s position and velocity. The ball’s future trajectory and landing point was predicted by estimating its position and velocity. Feedback linearization was used to linearize the omni-directional wheeled mobile robot model and was then combined with a proportional-integral-derivative (PID) controller. The visual tracking algorithm was initially simulated numerically, and then the performance of the designed system was verified experimentally. We verified that the designed system was able to precisely catch a thrown ball.

原文English
文章編號3208
期刊Sensors
21
發行號9
DOIs
出版狀態Published - 2021 五月 1

All Science Journal Classification (ASJC) codes

  • 分析化學
  • 資訊系統
  • 原子與分子物理與光學
  • 生物化學
  • 儀器
  • 電氣與電子工程

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