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    题名: Dynamic visual tracking control of a mobile robot with image noise and occlusion robustness
    作者: Tsai, Chi-yi;Song, Kai-tai
    贡献者: 淡江大學電機工程學系
    关键词: Visual interaction model;Visual tracking control;Visual state estimation;Nonholonomic mobile robots;Temporary partial/full occlusion
    日期: 2009-06-01
    上传时间: 2011-10-15 01:09:45 (UTC+8)
    出版者: Elsevier BV
    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.
    關聯: Journal of Image and Vision Computing 27(8), pp.1007-1022
    DOI: 10.1016/j.imavis.2008.08.011
    显示于类别:[電機工程學系暨研究所] 期刊論文

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