TY  - JOUR
T1  - Controlled Mobile Robot for Tracking a Moving Objects
AU - Chaabani, Ali AU - Bellamine, Mohamed Sahbi AU - Gasmi, Moncef 
JO  - International Journal of System Signal Control and Engineering Application
VL  - 11
IS  - 1
SP  - 1
EP  - 12
PY  - 2018
DA  - 2001/08/19
SN  - 1997-5422
DO  - ijssceapp.2018.1.12
UR  - https://makhillpublications.co/view-article.php?doi=ijssceapp.2018.1.12
KW  - Mobile robot
KW  -trajectory
KW  -obstacles
KW  -moving tracking
KW  -planning
KW  -observation
AB  - This study takes into explication the requirements to plan trajectories for taking a roving target and
manipulating it with two arm’s mobile robots with 7 degree-of-freedom provided by a Barrett hand and a gripper
in an environment that takes the barrier problems on consideration. For the robots in charge, the algorithm has
as function to determine the necessary trajectory to catch the object based on an observation: when the object
starts moving, the algorithm uses also some variables like the start configuration, the object’s speed and the
robot’s model and the scene. This algorithm is an expansion of RRT-JT which exploits the Jacobian-based
gradient descent to coach a 7-DoF WAM robotic arm with a dynamic base and a robot gripper in sort to
generate the shortest time path for the capture procedure while avoiding obstacles. Finally, we present empirical
studies on tracking and capturing the strolling object with our mobile robot and we compare the results of two
robots.
ER  -