教師資料查詢 | 類別: 期刊論文 | 教師: 蔡奇謚 Chi-yi Tsai (瀏覽個人網頁)

標題:Dynamic visual tracking control of a mobile robot with image noise and occlusion robustness
學年97
學期2
出版(發表)日期2009/06/01
作品名稱Dynamic visual tracking control of a mobile robot with image noise and occlusion robustness
作品名稱(其他語言)
著者Tsai, Chi-yi; Song, Kai-tai
單位淡江大學電機工程學系
出版者
著錄名稱、卷期、頁數Journal of Image and Vision Computing 27(8), pp.1007-1022
摘要This paper presents a robust visual tracking control design for a nonholonomic mobile robot equipped with a tilt camera. This design aims to allow the mobile robot to keep track of a dynamic moving target in the camera’s field-of-view; even though the target is temporarily fully occluded. To achieve this, a control system consisting of a visual tracking controller (VTC) and a visual state estimator (VSE) is proposed. A novel visual interaction model is derived to facilitate the design of VTC and VSE. The VSE is responsible for estimating the optimal target state and target image velocity in the image space. The VTC then calculates the corresponding command velocities for the mobile robot to work in the world coordinates. The proposed VSE not only possesses robustness against the image noise, but also overcomes the temporary occlusion problem. Computer simulations and practical experiments of a mobile robot to track a moving target have been carried out to validate the performance and robustness of the proposed system.
關鍵字Visual interaction model;Visual tracking control;Visual state estimation;Nonholonomic mobile robots;Temporary partial/full occlusion
語言英文
ISSN0262-8856
期刊性質國外
收錄於SCI;EI;
產學合作
通訊作者Tsai, Chi-yi
審稿制度
國別荷蘭
公開徵稿
出版型式,紙本
相關連結
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