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http://dx.doi.org/10.3795/KSME-A.2012.36.11.1463

Verification of Camera-Image-Based Target-Tracking Algorithm for Mobile Surveillance Robot Using Virtual Simulation  

Lee, Dong-Youm (Graduate School of Mechanical.Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.)
Seo, Bong-Cheol (Graduate School of Mechanical.Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.)
Kim, Sung-Soo (Dept of Mechatronics Engineering, Chungnam Nat'l Univ.)
Park, Sung-Ho (Dodaam Systems)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.36, no.11, 2012 , pp. 1463-1471 More about this Journal
Abstract
In this study, a 3-axis camera system design is proposed for application to an existing 2-axis surveillance robot. A camera-image-based target-tracking algorithm for this robot has also been proposed. The algorithm has been validated using a virtual simulation. In the algorithm, the heading direction vector of the camera system in the mobile surveillance robot is obtained by the position error between the center of the view finder and the center of the object in the camera image. By using the heading direction vector of the camera system, the desired pan and tilt angles for target-tracking and the desired roll angle for the stabilization of the camera image are obtained through inverse kinematics. The algorithm has been validated using a virtual simulation model based on MATLAB and ADAMS by checking the corresponding movement of the robot to the target motion and the virtual image error of the view finder.
Keywords
Target-Tracking Control; Stabilization Control; Mobile Surveillance Robot;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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