多移动机器人的目标跟踪研究  

Research on Target Tracking of Multiple Mobile Robots

作　　者：孟静[1,2] 陈罡[1] 高晓丁[2] 

机构地区：[1]浙江纺织服装学院机电学院,浙江宁波315200 [2]西安工程大学机电工程学院,西安710000

出　　处：《计算机测量与控制》2016年第4期141-145,共5页Computer Measurement &Control

基　　金：国家自然科学基金(61203068);宁波市重大科技攻关项目(2013B10045);智能纺织机电技术研发(2015B11009)

摘　　要：针对多移动机器人对固定目标和动态目标跟踪问题进行了研究;首先基于l-φ闭环控率对多移动机器人进行刚性编队,建立运动学模型,采用leader-follower协调策略算法,实现了多移动机器人的协调合作;然后采用SURF算法识别目标,通过路径规划实现对固定目标的跟踪以及利用卡尔曼滤波器实现对运动目标的跟踪,设计了基于Backstepping方法的控制器,使多移动机器人能稳定跟踪目标;最后用MATLAB进行仿真;仿真结果表明,所设计的控制器和算法能使多移动机器人的跟踪误差快速收敛于零,适用于多移动机器人对目标的跟踪。Aiming at the fixed target and dynamic target tracking problem of the multiple mobile robots is studied. Firstly, the rigid for mation and kinematics model of the multiple mobile robots is established that is based on the l-φ closed loop control, the coordination of the multiple mobile robots is achieved under the leader -- followers coordination strategy algorithm; And then the target is identified by using SURF algorithm, through the path planning and Kalman filter, the fixed target and dynamic target can be tracked. The controller is de signed based on Backstepping, the target can be tracked stably by the multiple mobile robots. Finally, Matlab is used to simulate, the re suits shows that the tracking errors of the multiple mobile robots is converged to zero quickly under the designed controller and the algorithm, which can be used for the target tracking of the multiple mobile robots.

关 键 词：多移动机器人 目标跟踪 路径规划 卡尔曼滤波器 BACKSTEPPING 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]