Real time, dynamic target tracking and servoing using image motion | |
| Author | Saeed, Israr Ahmed Khan |
| Call Number | AIT Thesis no.ISE-05-45 |
| Subject(s) | Robots--Dynamics Robots--Motion Real-time control Automatic tracking Servomechanisms |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-05-45 |
| Abstract | Target Tracking and servoing is a vital area of robotics research. Numerous strategies and techniques are developed to make the vision system intelligent and adaptable to environment. Versatile vision systems are being employed increasingly for currently visual feedback intelligent robotic control to perform complex tasks especially in tracking and servoing of dynamic objects. The need to use pan-and-tilt head to effectively track moving objects opens many opportunities for research. The vision systems are used for interpreting capabilities without previous knowledge of the arbitrary object information and they can automatically generate the optimum tracking and servoing trajectory for the robot. However, all the solutions have a number of restrictions and need calibration and a number of priori settings to accommodate to the environment in which they operate. This problem becomes particularly the main hindrance in performance when the system is to be operated in ordinary light and the target object undergoes motion with undefined motion pattern. The proposed system in this research is designed by integrating a moving stereo vision CCD camera (mounted on a pan-and-tilt head) and mounted on in-house made mobile robot. The whole system operates in a real time mode as a single application. This research is divided in two steps. In first phase, the task of Dynamic Target Tracking is achieved in a real time mode with the object undergoing motion in all three directions. Visual feedback closed loop technique is employed to control the pan-and-tilt head. In second phase, the task of dynamic target tracking and servoing is accomplished simultaneously. The target object exhibits motion that can be characterized by a combination of linear and circular motion in all direction. In addition, the system is tested when the distance of target object is varied from mobile robot. The motion under study has no fixed pattern. The system is designed to track and survoy the moving object simultaneously. Tilt head is used to track the body in vertical plane. The mobile robot wheels are used for tracking and servoing the moving object. The target object is maintained in center of image and also maintained in a specified range from the mobile robot. The proposed robot control system used optical flow technique to determine the target velocity and used the stereo vision technique to determine the target object distance from mobile robot and angular displacements of the target. Control law is designed for the trajectory of the mobile robot and pan-and-tilt head for visual tracking and servoing. This proposed systems operate efficiently for both dynamic object tracking and servoing. The algorithms show very good results in both visual tracking and servoing. The small error is due to the actuator, which cannot react to small changes in target position. The system works in real time mode and is particularly robust to light changes and changes in speed. |
| Year | 2005 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-05-45 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Afzulpurkar, Nitin V.; |
| Examination Committee(s) | Batanov, Dencho N. ;Guha, Sumanta ; |
| Scholarship Donor(s) | Government of Japan; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2005 |