淡江大學機構典藏:Item 987654321/60962
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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/60962


    Title: Dynamic visual tracking control of a mobile robot with image noise and occlusion robustness
    Authors: Tsai, Chi-yi;Song, Kai-tai
    Contributors: 淡江大學電機工程學系
    Keywords: Visual interaction model;Visual tracking control;Visual state estimation;Nonholonomic mobile robots;Temporary partial/full occlusion
    Date: 2009-06-01
    Issue Date: 2011-10-15 01:09:45 (UTC+8)
    Publisher: Elsevier BV
    Abstract: 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.
    Relation: Journal of Image and Vision Computing 27(8), pp.1007-1022
    DOI: 10.1016/j.imavis.2008.08.011
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Journal Article

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