Trackabilifty Based Motion Control in Mobile Hand-Eye System

2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI:10.1109/SICE.2006.315316

T. Shiozaki, T. Marakami

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引用次数: 3

Abstract

The paper describes a control of a moving target tracking for a mobile hand-eye system. Autonomous target tracking by vision system has many potential applications; e.g. surveillance, security, etc. In particular, mobile robot-based trackers are attractive because they can track targets in wide range. However, mobile robots with wheeled systems cannot instantaneously move in the axial direction because of nonholonomic constraints. Therefore, a visual sensor mounted on a mobile robot may lose sight of an observed target when their relative motion is large. On the other hand, mobile hand-eye systems with extra d.o.f. has great possibilities to track target objects due to redundancy. But there have been rarely previous researches in which effective utilization of the redundancy was considered. Hence "Trackability measure! which is the index to evaluate tracking ability of a mobile hand-eye system is proposed in the paper. Not only operability b.o.f. hand-eye, but also mobility of a mobile robot and the a position of a target object are introduced as points of the index. The traceability measure makes it possible to track a moving target taking full advantage of a mobile hand-eye system

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基于可跟踪性的移动手眼系统运动控制

介绍了一种移动手眼系统的运动目标跟踪控制方法。基于视觉系统的自主目标跟踪具有广泛的应用前景。例如监视、安全等。特别是，基于移动机器人的跟踪器具有很大的吸引力，因为它们可以跟踪大范围的目标。然而，由于非完整约束，轮式移动机器人不能瞬间向轴向移动。因此，安装在移动机器人上的视觉传感器可能会在观察目标的相对运动较大时失去视线。另一方面，具有额外d.o.f.的移动手眼系统由于冗余，有很大的可能性跟踪目标物体。但以往很少有研究考虑到冗余的有效利用。因此“可追踪性测量!”本文提出了一种评价移动手眼系统跟踪能力的指标。该指标不仅包括手眼的可操作性，还包括移动机器人的可移动性和目标物体的位置。可追溯性措施使跟踪移动目标成为可能，充分利用移动手眼系统

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2006 SICE-ICASE International Joint Conference

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