查詢結果分析
相關文獻
頁籤選單縮合
題 名 | Autonomous Target Tracking and Following Mobile Robot |
---|---|
作 者 | Lee, Ricky Min-fan; Lee, Kelly Hui-en; | 書刊名 | Journal of The Chinese Institute of Engineers |
卷 期 | 36:4 2013.06[民102.06] |
頁 次 | 頁502-529 |
分類號 | 448.94 |
關鍵詞 | Visual servo control; Target tracking; Autonomous mobile robot; Intelligent control; Particle filter; Fuzzy logic; |
語 文 | 英文(English) |
英文摘要 | To track and follow a moving target in real-time is a very challenging task in the autonomous mobile robot application due to the unstructured and uncertain environment. In this paper, a real-time intelligent and autonomous dynamic whole field target tracking system (360 coverage) is developed based on a pan/tilt/zoom CCD vision system. The vision system scans and locks the pose of the moving target and command the tracking mobile robot to approach and follow the moving target robot while avoiding the obstacle. The Bayes' theorem based segmentation algorithm between the foreground and background is applied for the motion detection. The color based particle filter algorithm is applied to track the moving object. The system steers the heading of the tracking mobile robot toward the moving target via the angular difference obtained from tracking module. Fuzzy logic is applied and sensor fusion algorithm is developed to reduce the ultrasonic phantom effect for obstacles detection using eight ultrasonic sensors. The multiple behaviors are integrated through the proposed system. Experimental results show the proposed system can successfully track and follow the moving target and avoids the obstacles in real-time. The tracking accuracy is higher than 80%. |
本系統中英文摘要資訊取自各篇刊載內容。