Abstract
In this paper, a modified LQG technique is proposed for the solution of the robotic visual tracking problem (eye-in-hand configuration). The problem of robotic visual tracking is formulated as a problem of combining control with computer vision. A cross-correlation method provides the object’s motion measurements which are used to update the system’s measurement vector. These measurements are fed to a discrete steady state Kaiman filter that calculates the estimated values of the system’s states and of the exogenous disturbances. Then, a discrete LQG controller computes the desired motion of the robotic system. Experimental results are presented to show the effectiveness of the approach.
*This research was supported by the Defense Advanced Research Projects Agency, through ARPA Order Number DAAA-21-89C-0001 and by Innovision Inc.
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© 1992 Springer Science+Business Media Dordrecht
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Papanikolopoulos, N.P., Khosla, P.K. (1992). Real-Time LQG Robotic Visual Tracking. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_35
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DOI: https://doi.org/10.1007/978-94-011-2526-0_35
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