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Predictive tracking of an object by a pan–tilt camera of a robot

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Bibliographic Details
Main Authors: Robert, Nebeluk, Krzysztof, Zarzycki,, Dawid, Seredyński
Format: Book
Language:English
Published: Springer 2023
Subjects:
Model predictive control (MPC)
Online Access:https://link.springer.com/article/10.1007/s11071-023-08295-z
https://dlib.phenikaa-uni.edu.vn/handle/PNK/7975
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spelling oai:localhost:PNK-79752023-04-17T02:47:27Z Predictive tracking of an object by a pan–tilt camera of a robot Robert, Nebeluk Krzysztof, Zarzycki, Dawid, Seredyński Model predictive control (MPC) CC BY Moving-object tracking using a pan–tilt camera setup is quite a well-known task in robotics. However, the presented research addresses specific properties of the tracked object and introduces novel features to the pan–tilt camera control strategy. Pan–tilt camera control does not operate in an isolated environment. It is a part of the visual servoing system with specific goals. The system has to fulfill certain purposes, which affect its configuration and functionality. The pan–tilt system aims at keeping the visually tracked object within the middle of the image. At the same time, the overall visual servoing efficiently recognizes and tracks the object enabling its grasping by the robot arm. It uses a predictive strategy utilizing specific second-order linear models for pan and tilt joints. Model predictive control (MPC) introduces into the system the ability to predict camera operation over the specific horizon according to the predefined tracking goals. 2023-04-17T02:46:27Z 2023-04-17T02:46:27Z 2023 Book https://link.springer.com/article/10.1007/s11071-023-08295-z https://dlib.phenikaa-uni.edu.vn/handle/PNK/7975 en application/pdf Springer
institution Digital Phenikaa
collection Digital Phenikaa
language English
topic Model predictive control (MPC)
spellingShingle Model predictive control (MPC)
Robert, Nebeluk
Krzysztof, Zarzycki,
Dawid, Seredyński
Predictive tracking of an object by a pan–tilt camera of a robot
description CC BY
format Book
author Robert, Nebeluk
Krzysztof, Zarzycki,
Dawid, Seredyński
author_facet Robert, Nebeluk
Krzysztof, Zarzycki,
Dawid, Seredyński
author_sort Robert, Nebeluk
title Predictive tracking of an object by a pan–tilt camera of a robot
title_short Predictive tracking of an object by a pan–tilt camera of a robot
title_full Predictive tracking of an object by a pan–tilt camera of a robot
title_fullStr Predictive tracking of an object by a pan–tilt camera of a robot
title_full_unstemmed Predictive tracking of an object by a pan–tilt camera of a robot
title_sort predictive tracking of an object by a pan–tilt camera of a robot
publisher Springer
publishDate 2023
url https://link.springer.com/article/10.1007/s11071-023-08295-z
https://dlib.phenikaa-uni.edu.vn/handle/PNK/7975
_version_ 1763452658485559296
score 8.891145

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