Visual Feedback Tracking with Laser to Moving Crane Hook

被引：3
|
作者：
Nara, Shunsuke [1 ]
Takahashi, Satoru [1 ]
机构：
[1] Kagawa Univ, Dept Intelligent Mech Syst Engn, 2217-20 Hayashi Cho, Takamatsu, Kagawa 7610396, Japan
来源：
JOURNAL OF ROBOTICS AND MECHATRONICS | 2006年 / 18卷 / 06期
基金：
日本学术振兴会;
关键词：
image recognition; extended Kalman filter; visual feedback control; sensor fusion;
D O I：
10.20965/jrm.2006.p0795
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper introduces measurement of the working radius of a crane truck based on visual feedback control. In order to realize the measurement, we developed an observation device which is equipped with a CCD camera, a laser range finder, and AC servo motors. Further, we propose a new algorithm for mark recognition and construct a control system with an extended Kalman filter to eliminate a time delay. By performing several experiments, we verify the performance of the observation device, and show the effectiveness of our proposed method.
引用
收藏
页码：795 / 802
页数：8
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