Interception of a Projectile Using a Human Vision-Based Strategy

Visual-servoing tasks for mobile robots characteristically require the processing of vast amounts of navigational information which can impede the performance of even the most well designed systems. This paper investigates the idea of using a simple humanbased strategy to accomplish the task of using a mobile robot to intercept a projectile. This vision based control strategy relies on a single image-based parameter whose sign corresponds to a decision whether to run forward or backward for successful interception. Assuming the ball can be tracked easily in real time by the mobile robot's vision system, computational time for motion decision making and control is minimized. We examine and develop several motion controlstrategies which incorporate the robot's velocity and acceleration in addition to this human-based strategy. The simplest of these strategies is used with a mobile robot and demonstrates results similar to a human both in simulation and real-world application.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Justin A. Borgstadt, Nicola J. Ferrier
• Keywords: ICRA 2000, Mobile Robot, Mobile Robot Vision, Robotics, Simple Humanbased Strategy