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

页码：795 / 802

页数：8

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