Please use this identifier to cite or link to this item: https://doi.org/10.1007/978-3-642-14743-2_23
DC FieldValue
dc.titleMotion planning for 3-D target tracking among obstacles
dc.contributor.authorBandyopadhyay, T.
dc.contributor.authorAng Jr., M.H.
dc.contributor.authorHsu, D.
dc.date.accessioned2013-07-23T09:29:38Z
dc.date.available2013-07-23T09:29:38Z
dc.date.issued2010
dc.identifier.citationBandyopadhyay, 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. <a href="https://doi.org/10.1007/978-3-642-14743-2_23" target="_blank">https://doi.org/10.1007/978-3-642-14743-2_23</a>
dc.identifier.isbn9783642147425
dc.identifier.issn16107438
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/43272
dc.description.abstractThe 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1007/978-3-642-14743-2_23
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentCOMPUTER SCIENCE
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1007/978-3-642-14743-2_23
dc.description.sourcetitleSpringer Tracts in Advanced Robotics
dc.description.volume66
dc.description.issueSTAR
dc.description.page267-279
dc.identifier.isiutNOT_IN_WOS
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