Perceptual navigation strategy for mobile robots intercepting ground balls

Zheng Wang, Abhay Paranjape, Thomas Sugar, Michael McBeath

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

1 Scopus citations

Abstract

This paper presents a new human-based navigation model to guide a mobile robot to intercept ground balls. The new model consists of two strategies: the optical acceleration cancellation (OAC) model, and the lateral alignment strategy. The OAC model uses a linearly decreasing cotangent function of the gaze angle to reduce the distance between the robot and the target on the ground. It determines a set of possible robot positions on the horizontal plane at every time instant. The robot laterally aligns with the target when it moves to the side. The lateral alignment strategy determines a unique robot position at each time instant. The new navigation strategy provides a simple and fast algorithm to navigate mobile robots in an open field to intercept ground balls. Visual servo controllers were designed and simulated. A high-speed mobile robot was developed to conduct interception experiments.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages2713-2718
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

Keywords

  • Interception
  • Lateral alignment
  • Mobile robot navigation
  • Optical Acceleration Cancellation (OAC)
  • Path planning

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Wang, Z., Paranjape, A., Sugar, T., & McBeath, M. (2006). Perceptual navigation strategy for mobile robots intercepting ground balls. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 2713-2718). [1642111] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642111