Autonomous Robotic Systems by Raja Chatila, Simon Lacroix, Michel Devey, Thierry Siméon

By Raja Chatila, Simon Lacroix, Michel Devey, Thierry Siméon (auth.), Professor Anibal T. de Almeida, Professor Oussama Khatib (eds.)

This ebook constitutes the displays made on the complicated learn Workshop on self sustaining robot structures, which used to be held on the college of Coimbra, Portugal, June 1997. the purpose of the assembly was once to collect top researchers within the sector of self reliant platforms for mobility and manipulation, and the purpose of this publication is to proportion the shows with the reader. The publication provides the newest advancements within the box. themes comprise sensors and navigation in cellular robots, robotic co-operation, telerobotics, legged robots, mountaineering robots and purposes. current and rising functions of independent syst ems are defined in nice element, together with functions in forestry, cleansing, mining, tertiary structures, counsel to the aged and handicapped, and surgical procedure. The chapters are written in a established and complicated educational variety by way of prime experts from Europe, Australia, Japan and united states. the fashion will let the reader to understand the state of the art and study instructions within the region of self sustaining systems.

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However, it is the mobile robot (the body of the system) that must follow the target see figure 2. 24 Figure 2. The information provided by the active vision system is used to control the mobile robot to pursuit a person in real - time. TargetReLo~~~ Smoothl Pursuit& l /lee Figure 3. State diagram of the pursuit process. To perform the pursuit of a moving target we use two basic control schemes: a visual fixation control of the active vision system and the trajectory control of the robot. The visual fixation control guarantees that the target is continuously tracked by the vision system, and gives information about its position to the robot control.

The pattern is defined as an area around the center of the image acquired after the execution of the saccade movement. The gaze holding uses two image processing phases: the tracking of the patterns in the left and right images, and the correspondence of the left and right patterns. The tracking phase uses the pattern defined at the end of the saccade movement. That pattern will be searched in each image captured, at a certain pyramid level, 35 "X XI+X Xmax Figure 13. Polynomial representation.

The distances of the target to the center of the foveal windows on the retinas are well described by the view direction difference between head fixation point and the target in space. Suppose the minimum view angle difference is amin to guarantee that foveal image processing can still yield reliable results. If -C~min > 0 then a #saccade motion planning is activated. Otherwise, smoothpursuit is used. During the #saccade motion planning, no visual information is processed, and we use the Kalman filter estimator to predict the position and velocity of the target after a #saccade.

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