Prediction-based interception control strategy design with a specified approach angle constraint for wheeled service robots

This paper designs an innovative prediction-based interception control strategy to enable a wheeled mobile robot to intercept a dynamic target with a specified angle, which can be potentially utilized in such applications as service robots. Specifically, visual information is collected and then utilized to estimate the state of the moving target, based on which, the follow-up pose of the target is calculated so as to improve the interception accuracy. A prediction-based controller is then proposed to drive the wheeled robot to efficiently intercept a dynamic target with a specified angle, whose stability is proven by Lyapunov techniques. Both simulation and experimental results are provided to demonstrate the superior performance of the proposed approach.

[1]  Andrey V. Savkin,et al.  Vision-Based Interception of a Moving Target by a Mobile Robot , 2007, 2007 IEEE International Conference on Control Applications.

[2]  Xi Liu,et al.  Adaptive Active Visual Servoing of Nonholonomic Mobile Robots , 2012, IEEE Transactions on Industrial Electronics.

[3]  Chang Boon Low,et al.  A trajectory tracking control scheme design for nonholonomic wheeled mobile robots with low-level control systems , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[4]  B. Benhabib,et al.  Rendezvous-Guidance Trajectory Planning for Robotic Dynamic Obstacle Avoidance and Interception , 2006, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[5]  Andrey V. Savkin,et al.  Interception of a moving object with a specified approach angle by a wheeled robot: Theory and experiment , 2008, 2008 47th IEEE Conference on Decision and Control.

[6]  J. Campos,et al.  Operational Space Control Implemented in Robot Motion Planning for Multiple Moving Objects Interception Task , 2009, 2009 Electronics, Robotics and Automotive Mechanics Conference (CERMA).

[7]  Homayoun Najjaran,et al.  An unscented model predictive control approach to the formation control of nonholonomic mobile robots , 2012, 2012 IEEE International Conference on Robotics and Automation.

[8]  Raffaello D'Andrea,et al.  Real-time trajectory generation for interception maneuvers with quadrocopters , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Konstantinos Karydis,et al.  Model predictive navigation for position and orientation control of nonholonomic vehicles , 2012, 2012 IEEE International Conference on Robotics and Automation.

[10]  Boumediene Belkhouche,et al.  Line of sight robot navigation toward a moving goal , 2006, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[11]  Manuela M. Veloso,et al.  Depth camera based indoor mobile robot localization and navigation , 2012, 2012 IEEE International Conference on Robotics and Automation.

[12]  R. Sreerama Kumar,et al.  An artificial neural network based dynamic controller for a robot in a multi-agent system , 2009, Neurocomputing.

[13]  Giuseppe Oriolo,et al.  Vision-based interception of a moving target with a nonholonomic mobile robot , 2007, Robotics Auton. Syst..

[14]  J.A.F. Campos,et al.  Robot Trajectory Planning for Multiple 2D Moving Objects Interception: a Functional Approach , 2006, Electronics, Robotics and Automotive Mechanics Conference (CERMA'06).

[15]  Xuebo Zhang,et al.  The Study of a Vision-Based Pedestrian Interception System , 2012, ICIRA.

[16]  R. Sreerama Kumar,et al.  Intelligent task planning and action selection of a mobile robot in a multi-agent system through a fuzzy neural network approach , 2007, Eng. Appl. Artif. Intell..

[17]  Gregory Dudek,et al.  Trust-driven interactive visual navigation for autonomous robots , 2012, 2012 IEEE International Conference on Robotics and Automation.

[18]  Widodo Budiharto,et al.  A navigation system for service robot using stereo vision and Kalman Filtering , 2011, 2011 11th International Conference on Control, Automation and Systems.

[19]  Mehdi Keshmiri,et al.  Performance comparison of various navigation guidance methods in interception of a moving object by a serial manipulator considering its kinematic and dynamic limits , 2010, 2010 15th International Conference on Methods and Models in Automation and Robotics.