Optimal tracking a moving target for integrated mobile robot-pan tilt-stereo camera

Abstract

This paper proposes a dynamic model and control method for the integrated system, including mobile robot, pan/tilt and stereo camera system. It used to track a moving object. A pair of cameras holding by pan/tilt robot placed on the mobile robot. Mobile robot is Pioneer 3DX moved by two wheels and a steering wheel. Pan/tilt platform holding camera is a two degree-of-freedom robot, controlled camera rotation following pan and tilt directions. The proposed control algorithm is highly optimal response qualities for minimizing error of velocity and energy of the system.