期刊論文
| 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 | en |
| ISSN | 0262-8856 |
| 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 | 否 |
| 國別 | NLD |
| 公開徵稿 | |
| 出版型式 | ,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/60962 ) |