Robotics Tracking Research at GT

I spent three years designing, building, and researching robotics.
Research focused on an vision systems for tracking research.


Year 93 - 95 FIVS camera --------------- Year 94- 95 Vitra

Tracking Control Of An Unmanned Vehicle
Lee, K.-M., Zhou, Zhi, Blenis, Robert, and Blasch, Erik,
“Real-Time Vision-Based Tracking Control Of An Unmanned Vehicle,”
Mechatronics, Vol. 5, No.8, October 1995, pp. 973-991.
Abstract:
Recent advances in manufacturing automation have
motivated vision-based control of autonomous vehicles
operated in unattended factories, material handling
processes, warehouse operations, and hazardous environment
explorations. Existing vision-based tracking control systems
of autonomous vehicles, however, have been limited in real-time
applications due to slow and/or expensive visual feedback
and complicated dynamics and control with nonholonomic constraints.
This paper presents a practical real-time vsion-based tracking
control system of a three-wheeled unmanned vehicle, ViTra.
Unlike the conventional RS170 video-based machine vision systems,
ViTra uses a DSP-based flexible integrated vision system (FIVS)
which is characterized by low cost, computational efficiency, control
flexibility, and friendly user interface.

This paper focuses on developing a framework for vision tracking
systems, designing generic fiducial patterns, and applying real-time
vision systems to tracking control of autonomous vehicles. A laboratory
prototype vision-based tracking system developed at Georgia Institute
of Technology permits the uniquely designed fiducial landmarks
to be evaluated experimentally, the control strategy and the
path planning algorithm derived in the paper be validated in real-time,
and the issues of simplifying nonlinear dynamics and dealing with
nonholonomic constraints be addressed in practice. Experimental
results reveal interesting insights to the design, manufacture,
modeling, and control of vision-based tracking control systems of
autonomous vehicles.


For more information on the GT Moblie Robotics Research
 For more information Advanced Intelligent Mechatronics (AIM) Research Laboratory
People influential on my research
Dr. Kok-Meng Lee
 Dr. Zhi Zhou
Dr. Steve Dickerson
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