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

Sho Tsung Kao, Yi Wang, Ming Tzu Ho

研究成果: Conference contribution

5 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1073-1080
頁數8
ISBN(電子)9781509014125
DOIs
出版狀態Published - 2017 八月 3
事件26th IEEE International Symposium on Industrial Electronics, ISIE 2017 - Edinburgh, Scotland, United Kingdom
持續時間: 2017 六月 182017 六月 21

出版系列

名字IEEE International Symposium on Industrial Electronics

Other

Other26th IEEE International Symposium on Industrial Electronics, ISIE 2017
國家United Kingdom
城市Edinburgh, Scotland
期間17-06-1817-06-21

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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