Interception of a projectile using a human vision-based strategy

Abstract

Visual-servoing tasks for mobile robots characteristically require the processing of vast amounts of navigational information which can impede the performance of even the most well designed systems. This paper investigates the idea of using a simple human-based strategy to guide a mobile robot to intercept a projectile. This vision based control strategy relies on a single image-based parameter whose sign corresponds to a decision whether to run forward or backward for successful interception. Assuming the ball can be tracked easily in real time by the robot's vision system, motion decision making and control computations are minimized. We examine and develop several motion control strategies which incorporate the robot's velocity and acceleration in addition to this human-based strategy. The simplest strategy is tested on a mobile robot and demonstrates results similar to a human.