Study of A New Method for Vision Based Robot Target-Tracking Problem  

作　　者：董胜龙 Fan Changhong Chen Weidong Xi Yugeng 

机构地区：[1]Automation Research Inctitute, Shanghai Jiaotong University,

出　　处：《High Technology Letters》2001年第2期54-57,共4页高技术通讯（英文版）

基　　金：theHighTechnologyResearchandDevelopmentProgrammeofChina;theNationalScienceFoundationofChina ;andtheRe searchProjectofRoboticsL

摘　　要：Focused on several problems during robot target tracking, and proposed a new kind of scheme and algorithm for it. The hybrid systematic structure reduces the control complexity and guarantees the tracking effectiveness as well as the control stability. The convergence and the feasibility of the algorithm are analyzed and proofed thoroughly. An on-line updating method for navigation coefficient is presented. Finally, the control scheme and proposed algorithm is applied to the real robotic system. The simulation and experimental results show its effectiveness.Focused on several problems during robot target tracking, and proposed a new kind of scheme and algorithm for it. The hybrid systematic structure reduces the control complexity and guarantees the tracking effectiveness as well as the control stability. The convergence and the feasibility of the algorithm are analyzed and proofed thoroughly. An on-line updating method for navigation coefficient is presented. Finally, the control scheme and proposed algorithm is applied to the real robotic system. The simulation and experimental results show its effectiveness.

关 键 词：Proportional navigation robot tracking LOS convergent tracking 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]