This paper addresses a moving target tracking system with estimation of the image Jacobian without knowledge of camera configuration or robot kinematics. We propose an efficient algorithm to track a moving target using a numerical method and apply this algorithm to a robot system. The robot system is controlled using the nonlinear least squares optimization technique. The Full Newton's method and the secant approximation method are used to calculate joint angles. In this paper, large residuals of joint values are calculated using the secant approximation method. The image Jacobian is then estimated using the recursive least squares (RLS) algorithm. In addition, the velocity of the target influences the performance of the system because of the delay to process an image. Thus, we present a motion prediction algorithm for a moving target. The target position on the image plane is predicted using the autoregressive model (ARM). We then compare the performance of the small residual case with the performance of the large residual case using simulation. The experimental results show the improved performance using this prediction algorithm.

In this paper, a real-time obstacle avoidance method is discussed for a remote mobile robot controlled by a teleoperator. The method enables the remote user to drive the mobile robot without collisions. It consists of a real-time environment modeling algorithm using ultrasonic sensors, and a mobile robot control algorithm for obstacle avoidance. The former solves the limitations of the ultrasonic sensors such as noise sensitivity, poor directionality, and specular reflection for obtaining more accurate sensor data. Then the latter conducts wall or center following implemented by a fuzzy controller for obstacle avoidance using the environment model obtained by the previous algorithm. The command for obstacle avoidance is actually applied as a reflective force using a haptic device such as a force feedback joystick. The remote mobile robot, ROBHAZ-DT(RoBot in HAZardous environment-Double Track) developed by KIST(Korea Institute of Science and Technology), is employed as the mobile robot model. The normal and the maximum speed of the ROBHAZ-DT are 3.1 km/h and 7.2 km/h, respectively. The weight of the robot is 50 kg. Simulations with the ROBHAZ-DT model are carried out to verify the performance of the proposed method.