Please use this identifier to cite or link to this item:
|Title:||Motion planning for 3-D target tracking among obstacles||Authors:||Bandyopadhyay, T.
Ang Jr., M.H.
|Issue Date:||2010||Citation:||Bandyopadhyay, T.,Ang Jr., M.H.,Hsu, D. (2010). Motion planning for 3-D target tracking among obstacles. Springer Tracts in Advanced Robotics 66 (STAR) : 267-279. ScholarBank@NUS Repository. https://doi.org/10.1007/978-3-642-14743-2_23||Abstract:||The goal of target tracking is to compute motion strategies for a robot equipped with visual sensors, so that it can effectively track a moving target despite obstruction by obstacles. It is an important problem with many applications in robotics. Existing work focuses mostly on the 2-D version of the problem, partly due to the complexity of dealing with 3-D visibility relationships. This paper proposes an online algorithm for 3-D target tracking among obstacles, using only local geometric information available to a robot's visual sensors. Key to this new algorithm is the definition and efficient computation of a risk function, which tries to capture a target's ability in escaping from the robot sensors' visibility region in both short and long terms. The robot then moves to minimize this risk function locally in a greedy fashion. In the absence of occlusion by obstacles, the standard tracking algorithm based on visual servo control can be considered a special case of our algorithm. Experiments show that the new algorithm generated interesting tracking behaviors in three dimensions and performed substantially better than visual servo control in simulation. © 2010 Springer-Verlag Berlin Heidelberg.||Source Title:||Springer Tracts in Advanced Robotics||URI:||http://scholarbank.nus.edu.sg/handle/10635/43272||ISBN:||9783642147425||ISSN:||16107438||DOI:||10.1007/978-3-642-14743-2_23|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on May 23, 2019
checked on May 22, 2019
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.