视觉导航下基于H_2/H_∞的航迹跟踪  

Path tracking for visual navigation based on H_2/H_∞

作　　者：吴成良[1] 曹云峰[2] 庄丽葵[2] 谢也 丁萌[3] 

机构地区：[1]南京航空航天大学自动化学院,南京210000 [2]南京航空航天大学航天学院,南京210000 [3]南京航空航天大学民航学院,南京21000

出　　处：《北京航空航天大学学报》2016年第6期1279-1285,共7页Journal of Beijing University of Aeronautics and Astronautics

摘　　要：为了从理论上研究视觉导航系统的特性,首先在物理上将视觉导航系统划分为传感器(摄像头、激光测距仪)和视觉处理计算机。针对视觉处理计算机,建立视觉位置测量模型。将视觉位置测量模型的不确定性分为参数不确定性和输入干扰2种。然后通过仿真详细分析了视觉位置估计针对不同模型不确定性的敏感程度。最后在引入视觉位置测量模型不确定性的基础上研究H2/H∞混合鲁棒控制在航迹跟踪上的应用,并给出了保证航迹控制系统稳定性和跟踪性能情况下的视觉位置测量模型摄动范围,对计算机视觉算法的研究具有一定的指导意义。Visual navigation system was physically divided into sensors（ camera and laser rangefinder）and computer vision processing,so as to study the characteristics of visual navigation system theoretically. And then visual measurement model was established,which was based on the above computer vision processing.The uncertainties of visual position measurement model were divided into parameter uncertainties and input interference. The sensitivity degrees triggered by different kinds of model uncertainties in visual position estimation were analyzed in detail by simulation. Finally,based on the introduction of visual measurement model uncertainty,visual measurement model perturbation ranges,under the constraint conditions of both track control system stability and tracking performance,were given in the study of the H2/ H∞hybrid robust control application to trajectory tracking,which is of certain guiding significance to computer vision algorithm.

关 键 词：视觉导航 视觉测量模型 模型不确定性 H2/H∞混合控制 鲁棒性能 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]