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http://dx.doi.org/10.5302/J.ICROS.2004.10.8.696

Optimal Trajectory Planning for Capturing a Mobile Object  

황철호 (부산대학교 전자공학과)
이상헌 (부산대학교 전자공학)
조방현 (부산대학교 전자공학)
이장명 (부산대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.8, 2004 , pp. 696-702 More about this Journal
Abstract
An optimal trajectory generation algorithm for capturing a moving object by a mobile robot in real-time is proposed in this paper. The linear and rotational velocities of the moving object are estimated using the Kalman filter, as a state estimator. For the estimation, the moving object is tracked by a 2-DOF active camera mounted on the mobile robot, which enables a mobile manipulator to track the mobile robot until the capturing moment. The optimal trajectory for capturing the moving object is dependent on the initial conditions of the mobile robot as well as the moving object. Therefore, real-time trajectory planning for the mobile robot is definitely required for the successful capturing of the moving object. The performance of proposed algorithm is verified through the real experiments and the superiority is demonstrated by comparing to other algorithms.
Keywords
trajectory planning; kalman filter; mobile robot; capturing;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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