Predictive tracking of an object by a pan–tilt camera of a robot
CC BY
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Định dạng: | Sách |
Ngôn ngữ: | English |
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Springer
2023
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Truy cập trực tuyến: | https://link.springer.com/article/10.1007/s11071-023-08295-z https://dlib.phenikaa-uni.edu.vn/handle/PNK/7975 |
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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 |