Perceptual navigation strategy: A unified approach to interception of ground balls and fly balls

Keshav Mundhra, Thomas Sugar, Michael McBeath

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

In previous work, we demonstrated the feasibility of perceptual navigation algorithms used to intercept fly balls. In this paper we expand the optical acceleration cancellation heuristic to also intercept ground balls. We used computer simulations and experiments with mobile robots with various ball trajectories and different initial positions of the fielder to test our new model. A new robotic system with improved vision and faster processing was developed for experimentally intercepting ground balls. The results support the generality of viewer based interception heuristics for both fly balls and ground balls.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3461-3466
Number of pages6
Volume3
StatePublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

Other

Other2003 IEEE International Conference on Robotics and Automation
CountryTaiwan, Province of China
CityTaipei
Period9/14/039/19/03

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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    Mundhra, K., Sugar, T., & McBeath, M. (2003). Perceptual navigation strategy: A unified approach to interception of ground balls and fly balls. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 3461-3466)