International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation of Tracking and Capturing a Moving Object using a Mobile Robot

  • Kim Sang-joo (School of Electrical Engineering, Pusan National University) ;
  • Park Jin-woo (Institute of Information Technology Assessment(IITA)) ;
  • Lee Jang-Myung (School of Electrical Engineering, Pusan National University)
  • Published : 2005.09.01
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Abstract

A new scheme for a mobile robot to track and capture a moving object using camera images is proposed. The moving object is assumed to be a point-object and is projected onto an image plane to form a geometrical constraint equation that provides the position data of the object based on the kinematics of the active camera. Uncertainties in position estimation caused by the point-object assumption are compensated for using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. In this paper, the experimental results of the tracking and capturing of a target object with the mobile robot are presented.

Keywords

References

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