WO2003096054A3 - Real-time target tracking of an unpredictable target amid unknown obstacles - Google Patents

Real-time target tracking of an unpredictable target amid unknown obstacles Download PDF

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Publication number
WO2003096054A3
WO2003096054A3 PCT/US2003/014809 US0314809W WO03096054A3 WO 2003096054 A3 WO2003096054 A3 WO 2003096054A3 US 0314809 W US0314809 W US 0314809W WO 03096054 A3 WO03096054 A3 WO 03096054A3
Authority
WO
WIPO (PCT)
Prior art keywords
target
robot
amid
real
obstacles
Prior art date
Application number
PCT/US2003/014809
Other languages
French (fr)
Other versions
WO2003096054A2 (en
WO2003096054A8 (en
Inventor
Hector Gonzalez-Banos
Cheng-Yu Lee
Jean-Claude Latombe
Original Assignee
Honda Motor Co Ltd
Univ Leland Stanford Junior
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd, Univ Leland Stanford Junior filed Critical Honda Motor Co Ltd
Priority to AU2003229008A priority Critical patent/AU2003229008A1/en
Priority to JP2005518132A priority patent/JP3875988B2/en
Priority to EP03726788A priority patent/EP1504277B1/en
Publication of WO2003096054A2 publication Critical patent/WO2003096054A2/en
Publication of WO2003096054A3 publication Critical patent/WO2003096054A3/en
Publication of WO2003096054A8 publication Critical patent/WO2003096054A8/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Abstract

Embodiments of the invention provide a strategy for computing the motions of a mobile robot (303) operating in an obstacle-in the environment or knowing the trajectory of a target (301) tracked by the robot (303). Embodiments of the invention provide an algorithm that governs the motion of the observer robot (303) 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 (301) and the observer's visibility region (309a-309e) produced by the obstacles and computes a continuous control rule using this description. Embodiments of the invention employ an escape-path tree data structure to categorize the target's possible modes of escaping from the observer robot's (301) sensors and the use the escape-path tree to determine the target's shortest escape path.
PCT/US2003/014809 2002-05-10 2003-05-12 Real-time target tracking of an unpredictable target amid unknown obstacles WO2003096054A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2003229008A AU2003229008A1 (en) 2002-05-10 2003-05-12 Real-time target tracking of an unpredictable target amid unknown obstacles
JP2005518132A JP3875988B2 (en) 2002-05-10 2003-05-12 Real-time tracking of unpredictable targets in unknown obstacles
EP03726788A EP1504277B1 (en) 2002-05-10 2003-05-12 Real-time target tracking of an unpredictable target amid unknown obstacles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US37801502P 2002-05-10 2002-05-10
US60/378,015 2002-05-10

Publications (3)

Publication Number Publication Date
WO2003096054A2 WO2003096054A2 (en) 2003-11-20
WO2003096054A3 true WO2003096054A3 (en) 2004-04-01
WO2003096054A8 WO2003096054A8 (en) 2005-07-14

Family

ID=29420361

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2003/014809 WO2003096054A2 (en) 2002-05-10 2003-05-12 Real-time target tracking of an unpredictable target amid unknown obstacles

Country Status (5)

Country Link
US (1) US6917855B2 (en)
EP (1) EP1504277B1 (en)
JP (1) JP3875988B2 (en)
AU (1) AU2003229008A1 (en)
WO (1) WO2003096054A2 (en)

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Also Published As

Publication number Publication date
WO2003096054A2 (en) 2003-11-20
US6917855B2 (en) 2005-07-12
US20040073368A1 (en) 2004-04-15
JP3875988B2 (en) 2007-01-31
JP2006520459A (en) 2006-09-07
AU2003229008A8 (en) 2003-11-11
EP1504277B1 (en) 2012-10-10
EP1504277A4 (en) 2010-11-24
WO2003096054A8 (en) 2005-07-14
AU2003229008A1 (en) 2003-11-11
EP1504277A2 (en) 2005-02-09

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