Real-time target tracking of an unpredictable target amid...

Details Real-time target tracking of an unpredictable target amid... Real-time target tracking of an unpredictable target amid...

2005-07-12

2005-07-12

Chin, Gary (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S255000, C700S259000, C700S262000, C318S568110, C318S568130, C901S048000, C901S009000, C901S015000, C701S207000, C701S301000

Reexamination Certificate

active

06917855

ABSTRACT:
Embodiments provide a strategy for computing the motions of a mobile robot operating in an obstacle-laden environment without requiring prior knowledge of the distribution of obstacles in the environment or knowing the trajectory of a target tracked by the robot. Embodiments provide an algorithm that governs the motion of the observer robot based on measurements of the target's position and the location of obstacles in the environment. The algorithm computes a description of the geometric arrangement between the target and the observer's visibility region produced by the obstacles and computes a continuous control rule using this description. Embodiments employ an escape-path tree data structure to categorize the target's possible modes of escaping from the observer robot's sensors and use the escape-path tree to determine the target's shortest escape path.

REFERENCES:
patent: 4627511 (1986-12-01), Yajima
patent: 4747458 (1988-05-01), Andre et al.
patent: 4761595 (1988-08-01), Goor
patent: 4980626 (1990-12-01), Hess et al.
patent: 5006999 (1991-04-01), Kuno et al.
patent: 5416713 (1995-05-01), Kameda et al.
patent: 5506682 (1996-04-01), Pryor
patent: 5999881 (1999-12-01), Law et al.
patent: 6201231 (2001-03-01), Regensburger et al.
patent: 6442476 (2002-08-01), Poropat
patent: 6463356 (2002-10-01), Hattori et al.
patent: 2002/0022927 (2002-02-01), Lemelson et al.
patent: PCT/US03/14809 (2003-11-01), None
Mehlhorn, K., Naher, S., Leda: A Platform of Combinatorial and Geometric Computing, 1999, pp. 637-656, Cambridge University Press, Cambridge UK.
C. Becker et al., “An Intelligent Observer,” inProc 4thInternational Symposium on Experimental Robotics,1995, Springer, pp. 153-160.
H. Choset, “Topological Simultaneous Localization and Mapping (SLAM): Toward Exact Localization Without Explicit Localization,”IEEE,2001, pp. 125-137.
C. B. Congdon et al., “CARMEL vs. Flakey: A Comparison of Two Robots,” Internet, Draft Jan. 1994, pp. 1-52.
P. Fabiani and J.C. Latombe, Dealing with Geometric Constraints in Game-Theoretic Planning, inProc Int. Joint Conf. On Artif. Intell.,1999, pp. 942-947.
P. Fabiani et al., “Tracking a Partially Predictable Target with Uncertainties and Visibility Constraints,”Preprint submitted to Elsevier Preprint,Nov. 15, 2000, pp. 1-24.
H. González-Banos, “Motion Strategies for Autonomous Observers,” Ph.D. Thesis, Stanford University, Mar. 2001.
H. González-Banos et al., “The Autonomous Observer: A Tool for Remote Experimentation in Robotics,”Telemanipulator and Telepresence Technologies VI,Matthew Stein, Ed., Sep. 1999, vol. 3840, SPIE Proc., pp. 210-221.
H. González-Banos et al., “Planning Robot Motion Strategies for Efficient Model Construction,”Robotics Research—the Ninth Int. Symp.,J. Hollerbach and D. Koditschek, Eds., Salt Lake City, UT, 1999, Springer-Berlag, pp. 345-352.
H. González-Banos and J.C. Latombe, “Robot Navigation for Automatic Model Construction Using Safe Regions,”Lecture Notes in Control and Information Sciences,271, D. Russ and S. Singh, Eds. 2001, pp. 405-415.
L. J. Guibas et al., “A Visibility-Based Pursuit-Evasion Problem,”Int. J. of Computational Geometry and Applications,vol. 9, Nos. 4&5, 1999, pp. 471-493.
S. Hutchinson et al., “A Tutorial on Visual Servo Control,”IEEE Trans. Robotics and Automation,vol. 12, No. 5, Oct. 1996, pp. 651-670.
D. P. Huttenlocher et al., “Tracking Non-Rigid Objects in Complex Scenes,” IEEE,Proc. 4thInt. Conf. on Computer Vision,1993, pp. 93-101.
I. Ishiguro et al., “Robovie: A Robot Generates Episode Chains in our Daily Life,”Proc. Of the 32ndInternational Symp. Of Robotics,Apr. 2001, 6 pp.
S. M. LaValle, “A Game-Theoretic Framework for Robot Motion Planning,” Ph. D. Thesis, University of Illinois, Urbana, IL, Jul. 1995.
S. M. LaValle et al., “Motion Strategies for Maintaining Visibility of Moving Target,”Proc. 1997 IEEE Int'l. Conf. On Robotics and Automation,Apr. 1997, pp. 731-736.
H. Li et al., “An Embedded System for Autonomous Collision Avoidance and Line Tracking Using Artificial CMOS Retina Sensor,”IEEE, Intelligent Vehicles Sumposium,2000, pp. 279-283.
T. Y. Li et al., “Automatically Generating Virtual Guided Tours,”Proc. Of the 1999 Computer Animation Conference,May 1999, pp. 99-106.
P. Ögren and N. Leonard, “A Provably Convergent Dynamic Window Approach Obstacle Avoidance,” Internet, 2001, pp. 1-6.
N. P. Papanikolopoulos et al., “Visual Tracking of a Moving Target by a Camera Mounted on a Robot: A Combination of Control and Vision,”IEEE Trans. On Robotics and Automation,vol. 9, No. 1, Feb. 1993, pp. 14-35.
T. Shermer, “Recent Results in Art Galleries,”Proc. IEEE,vol. 80, No. 9, Sep. 1992, pp. 1384-1399.
O'Rourke, J., “Visibility,” Handbook of Discrete and Computational, Geometry, 1997, pp. 467-479, CRC Press, Boca Raton, FL, USA.
Slotine, J.J.-E., Li, Weiping, Applied Linear Control, 1991, pp. 283-284, Prentice-Hall, Inc., Englewood Cliffs, NJ, USA.

Affiliated with

Also associated with

Rating

Real-time target tracking of an unpredictable target amid... does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Real-time target tracking of an unpredictable target amid..., we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Real-time target tracking of an unpredictable target amid... will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-3389225