This paper presents an interactive virtual reality game using real and virtual objects with general beam projector and computer vision. We show how the computer recognizes the objects and makes the virtual objects mov...
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ISBN:
(纸本)0780385675
This paper presents an interactive virtual reality game using real and virtual objects with general beam projector and computer vision. We show how the computer recognizes the objects and makes the virtual objects move after detecting the real objects in the game space created by a beam projector. To achieve the goals, we developed two methods: find objects distance (FOD) method and find reflection angle (FRA) method. After detecting the real and virtual objects, the methods predict the next moving direction of virtual objects. This interactive virtual reality (VR) game is named as Ting" which contains various fire-shaped virtual objects and bamboo-shaped real objects. "Ting Ting" game's core technology can be used in various application area as an interactive communication engine. These include but are not limited to, for example, an education game in schools, or an entertainment application in museums and/or science halls.
In this paper, a precise trajectory tracking method for mobile robot using a vision system is presented. In solving the problem of precise trajectory tracking, a hierarchical control structure is used which is compose...
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ISBN:
(纸本)0780347781
In this paper, a precise trajectory tracking method for mobile robot using a vision system is presented. In solving the problem of precise trajectory tracking, a hierarchical control structure is used which is composed of a path planer, vision system, and dynamiccontroller. When designing the dynamiccontroller, non-ideal conditions such as parameter variation, frictional force and external disturbance, are considered. The proposed controller can learn bounded control input for repetitive or periodic dynamics compensation which provides robust and adaptive learning capability. Moreover, the vision system allows the robot to compensate the cumulative location error which exists when a relative sensor, like encoder, is used to locate the robot. The effectiveness of the proposed control scheme is shown through experiment as well as computer simulation.
An adaptive PID learning controller which consists of an adaptive PID feedback control scheme and a feedforward input learning scheme is proposed for learning of periodic robot motion. In the learning controller, the ...
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An adaptive PID learning controller which consists of an adaptive PID feedback control scheme and a feedforward input learning scheme is proposed for learning of periodic robot motion. In the learning controller, the adaptive PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. In addition, the proposed adaptive PID learning controller is compared with the fixed PID learning controller in terms of the stability condition of lower PID gain bound, the performance of tracking, and the convergence rate of desired learning input.
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