Mobile robot interception using human navigational principles: Comparison of active versus passive tracking algorithms
We examined human navigational principles for intercepting a projected object and tested their application in the design of navigational algorithms for mobile robots. These perceptual principles utilize a viewer-based geometry that allows the robot to approach the target without need of time-consumi...
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| Veröffentlicht in: | Autonomous robots Jg. 21; H. 1; S. 43 - 54 |
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| Sprache: | Englisch |
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Springer Nature B.V
01.08.2006
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| ISSN: | 0929-5593, 1573-7527 |
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| Abstract | We examined human navigational principles for intercepting a projected object and tested their application in the design of navigational algorithms for mobile robots. These perceptual principles utilize a viewer-based geometry that allows the robot to approach the target without need of time-consuming calculations to determine the world coordinates of either itself or the target. Human research supports the use of an Optical Acceleration Cancellation (OAC) strategy to achieve interception. Here, the fielder selects a running path that nulls out the acceleration of the retinal image of an approaching ball, and maintains an image that rises at a constant rate throughout the task. We compare two robotic control algorithms for implementing the OAC strategy in cases in which the target remains in the sagittal plane headed directly toward the robot (which only moves forward or backward). In the “passive” algorithm, the robot keeps the orientation of the camera constant, and the image of the ball rises at a constant rate. In the “active” algorithm, the robot maintains a camera fixation that is centered on the image of the ball and keeps the tangent of the camera angle rising at a constant rate. Performance was superior with the active algorithm in both computer simulations and trials with actual mobile robots. The performance advantage is principally due to the higher gain and effectively wider viewing angle when the camera remains centered on the ball image. The findings confirm the viability and robustness of human perceptual principles in the design of mobile robot algorithms for tasks like interception. |
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| AbstractList | We examined human navigational principles for intercepting a projected object and tested their application in the design of navigational algorithms for mobile robots. These perceptual principles utilize a viewer-based geometry that allows the robot to approach the target without need of time-consuming calculations to determine the world coordinates of either itself or the target. Human research supports the use of an Optical Acceleration Cancellation (OAC) strategy to achieve interception. Here, the fielder selects a running path that nulls out the acceleration of the retinal image of an approaching ball, and maintains an image that rises at a constant rate throughout the task. We compare two robotic control algorithms for implementing the OAC strategy in cases in which the target remains in the sagittal plane headed directly toward the robot (which only moves forward or backward). In the 'passive' algorithm, the robot keeps the orientation of the camera constant, and the image of the ball rises at a constant rate. In the 'active' algorithm, the robot maintains a camera fixation that is centered on the image of the ball and keeps the tangent of the camera angle rising at a constant rate. Performance was superior with the active algorithm in both computer simulations and trials with actual mobile robots. The performance advantage is principally due to the higher gain and effectively wider viewing angle when the camera remains centered on the ball image. The findings confirm the viability and robustness of human perceptual principles in the design of mobile robot algorithms for tasks like interception. |
| Author | Sugar, Thomas G. McBeath, Michael K. Mundhra, Keshav Suluh, Anthony |
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| CitedBy_id | crossref_primary_10_1007_s00138_008_0138_y crossref_primary_10_1016_j_concog_2018_04_015 crossref_primary_10_3390_s21093208 crossref_primary_10_1371_journal_pone_0197803 crossref_primary_10_3758_BF03194018 crossref_primary_10_1007_s10514_008_9094_7 crossref_primary_10_1119_1_2937899 |
| Cites_doi | 10.1109/ROBOT.2000.845154 10.1167/2.7.434 10.1126/science.7725104 10.1109/ROBOT.2002.1014425 10.1080/00029890.1996.12004831 10.1167/1.3.193 10.1109/ROBOT.2001.932854 10.1109/ROBOT.2003.1242125 10.1119/1.1974297 10.1109/ROBOT.2002.1014420 10.9746/sicetr1965.39.388 10.1038/362023a0 10.1007/s00422-002-0393-3 10.1109/ICNSC.2004.1297409 |
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| References | D.M. Shaffer (8487_CR19) 2002; 28 R.R. Oudejans (8487_CR16) 1996; 22 M.K. McBeath (8487_CR5) 1995; 268 M.K. McBeath (8487_CR7) 2002; 2 8487_CR8 P. McLeod (8487_CR9) 1996; 22 8487_CR15 8487_CR14 L.A. Rozendaal (8487_CR18) 2003; 89 8487_CR13 S. Chapman (8487_CR4) 1968; 36 8487_CR12 8487_CR11 8487_CR22 8487_CR10 8487_CR21 M.K. McBeath (8487_CR6) 2001; 1 8487_CR20 8487_CR2 P.J. Brancazio (8487_CR3) 1985; 36 R.R. Oudejans (8487_CR17) 1999; 25 E. Aboufadel (8487_CR1) 1996; 103 |
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| SubjectTerms | Acceleration Algorithms Cameras Computer simulation Control algorithms Interception Principles Robot control Robots Viability |
| Title | Mobile robot interception using human navigational principles: Comparison of active versus passive tracking algorithms |
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