Method for Robot Capturing Object Thrown out in Natural Wind Environment

Abstract

It is difficult for a robot to capture object which is thrown out in the environment with natural wind. Equation of state and measurement of the object in the environment with natural wind is studied. Using the measurement equation and the state equation when there is no natural wind, the average acceleration of the object caused by natural wind can be estimated. Moreover, the variance of the object acceleration caused by natural wind can be estimated using the statistical characteristics and probability distribution of natural wind. Then a method for robot capturing the object based on Kalman filter is proposed. Simulation results show that the trajectory of the object changes obviously when two groups of typical natural wind are used. The object trajectory can be tracked by the robot accurately after it deviates from the object trajectory for about eight sampling periods.