Catching moving objects using a Navigation Guidance technique in a robotic Visual Servoing system

Keshmiri, Mohammad; Xie, Wen

doi:10.1109/acc.2013.6580826

Cited by 11 publications

(6 citation statements)

References 22 publications

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“…The guidance-navigation techniques have always been of interest to researchers so that the application of guidance laws in the robot navigation has discussed in many works [5], [12]- [16]. Furthermore, navigation guidance methods provide better performance for high-speed robots [17], [18]. A common issue in application of any guidance law is to avoid the uncontrolled interception between pursuer and target, since guidance methods are designed for target interception while it is required to have a smooth grasp or a controlled interception in robotic applications.…”

Section: Introductionmentioning

confidence: 99%

“…A common issue in application of any guidance law is to avoid the uncontrolled interception between pursuer and target, since guidance methods are designed for target interception while it is required to have a smooth grasp or a controlled interception in robotic applications. These conditions are discussed in [17], where a modified navigation guidance algorithm is proposed for catching a moving object. This method is based on the combination of a navigation guidance technique with visual servoing system.…”

Section: Introductionmentioning

confidence: 99%

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A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control

et al. 2021

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This paper presents a new method for robot interception planning based on the proportional navigation. Guidance laws are basically developed for aerospace applications where a pursuer impacts a target using these methods, however in the robotic application it is required to have a smooth grasp between the robot and the goal. In this method, a new term is considered for longitude axis to have the control on the final approaching velocity. The proposed method not only ensures the position and velocity match (also referred to as rendezvous) but also can be used to set the final closing velocity to any desired value. Approaching velocity can be zero for grasping the goal or a specific known velocity for hitting it in a controlled manner. It is shown that the capture region of the proposed approach is wider that other proportional navigation based methods. The proposed method is implemented on Qbot-2 and its performance is experimentally validated.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control

et al. 2021

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“…Over the last twenty years and among popular sensory systems used for tracking tasks, the vision sensors have emerged as suitable sensors for measuring the position of objects [ 5 ] due to their non-contact features and hardware costs. Vision sensors have been widely preferred as tracking systems in different robotic tasks, such as in robotic interception and grasping tasks where they are employed as navigation guidance systems for tracking and intercepting of moving targets [ 6 , 7 ], in robotic welding tasks where are used to perform real time tracking for the weld seams [ 8 , 9 ], and in robotic drilling process for locating reference holes [ 10 , 11 ]. They have the advantage of being cost effective since the cost of image processing has reduced, self-contained systems and also their ability for providing relevant information on the status of robots and their immediate physical environment.…”

Section: Introductionmentioning

confidence: 99%

3D Visual Tracking of an Articulated Robot in Precision Automated Tasks

Alzarok

Fletcher

Longstaff

2017

Sensors

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The most compelling requirements for visual tracking systems are a high detection accuracy and an adequate processing speed. However, the combination between the two requirements in real world applications is very challenging due to the fact that more accurate tracking tasks often require longer processing times, while quicker responses for the tracking system are more prone to errors, therefore a trade-off between accuracy and speed, and vice versa is required. This paper aims to achieve the two requirements together by implementing an accurate and time efficient tracking system. In this paper, an eye-to-hand visual system that has the ability to automatically track a moving target is introduced. An enhanced Circular Hough Transform (CHT) is employed for estimating the trajectory of a spherical target in three dimensions, the colour feature of the target was carefully selected by using a new colour selection process, the process relies on the use of a colour segmentation method (Delta E) with the CHT algorithm for finding the proper colour of the tracked target, the target was attached to the six degree of freedom (DOF) robot end-effector that performs a pick-and-place task. A cooperation of two Eye-to Hand cameras with their image Averaging filters are used for obtaining clear and steady images. This paper also examines a new technique for generating and controlling the observation search window in order to increase the computational speed of the tracking system, the techniques is named Controllable Region of interest based on Circular Hough Transform (CRCHT). Moreover, a new mathematical formula is introduced for updating the depth information of the vision system during the object tracking process. For more reliable and accurate tracking, a simplex optimization technique was employed for the calculation of the parameters for camera to robotic transformation matrix. The results obtained show the applicability of the proposed approach to track the moving robot with an overall tracking error of 0.25 mm. Also, the effectiveness of CRCHT technique in saving up to 60% of the overall time required for image processing.

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“…Many researchers focused their efforts on guidance and navigation aspects, and a navigation technique based on a visual servoing system combined with a six degree of freedom (DOF) robotic manipulator was used to capture a moving target [28]. A novel concept to identify a moving object and its trajectory design in space was presented in [29], [30], and [31], and focused on capturing an autonomous satellite using a visual servoing system.…”

Section: Adaptive Unscented Kalman Filter (Aukf)mentioning

confidence: 99%

Navigation and Control of Flexible Wing UAV Using Vision System

Al-Isawi¹

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This thesis presents an advanced guidance and control system for unmanned aerial vehicles (UAV) with flexible wing. The control system is based on a stereo vision system and advanced fuzzy logic algorithms that can detect wing deflections and shapes. In general, this sensor has the capability, reliability, and performance of similar traditional control sensors, and provides reliable visual information that is useful for designing different control systems. The thesis proposes a novel Deflection-Detection-Vision-System (DDVS) to control a flexible wing of unmanned aerial vehicle (UAV). Ph.D. program advisor, Professor Jurek Z. Sasiadek, for his continued support and guidance. He provided advice, opportunities, and assistance that greatly enhanced my research experience. Many thanks to my mother, my father, and my brothers for the patience and the support in all my choices, no matter what they were. In particular, I thank my lovely wife and my children "Fatima, Mohammed Ridha and Zainab" for their company and understanding during this thesis activity. Last but not certainly least, I would also like to thank my friends and fellow students for the great time spent together and the experiences shared. v

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Catching moving objects using a Navigation Guidance technique in a robotic Visual Servoing system

Cited by 11 publications

References 22 publications

A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control

A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control

3D Visual Tracking of an Articulated Robot in Precision Automated Tasks

Navigation and Control of Flexible Wing UAV Using Vision System

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