| 基于车载摄像机移动机器人的模糊神经网络跟踪 |
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| 引用本文： | 彭飞,王朝立.基于车载摄像机移动机器人的模糊神经网络跟踪[J].上海理工大学学报,2014,36(4):385-390. |
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| 作者姓名： | 彭飞 王朝立 |
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| 作者单位： | 上海理工大学 光电信息与计算机工程学院, 上海 200093;上海理工大学 光电信息与计算机工程学院, 上海 200093 |
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| 基金项目： | 国家自然科学基金资助项目(61374040)；上海市教委科技创新项目(13ZZ115)；上海市研究生创新项目(54-13-302-102) |
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| 摘 要： | 针对车载单目摄像机的轮式移动机器人的目标跟踪问题,提出一种模糊跟踪控制方案.方案分为两部分,分别为摄像机控制部分和轮式移动机器人控制部分.摄像机控制部分通过相关特征点之间的连线的夹角设计摄像机云台控制器,使摄像机能够实时跟踪目标,保持目标在图像平面的期望位置上.轮式移动机器人控制部分通过设计T-S模糊神经网络控制器使其能够在视觉伺服反馈下实时调整速度和姿态,实现目标的有效跟踪.仿真结果表明了本文方法的有效性.
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| 关 键 词： | 摄像机 轮式移动机器人 模糊神经网络 跟踪 |
| 收稿时间： | 2013/11/11 0:00:00 |
Camera Based Fuzzy Neural Network Tracking for Wheeled Mobile Robots |
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| PENG Fei and WANG Chao-li.Camera Based Fuzzy Neural Network Tracking for Wheeled Mobile Robots[J].Journal of University of Shanghai For Science and Technology,2014,36(4):385-390. |
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| Authors: | PENG Fei and WANG Chao-li |
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| Institution: | School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China |
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| Abstract: | Aiming at tracking targets by wheeled mobile robots(WMR) with cameras, a fuzzy neural network control scheme was presented.The scheme includes two parts:one is to control the camera and the other is to control the wheeled mobile robots.In the camera control part, a Pan-Tilt controller was designed by using some angles between related lines connecting feature points so that the feature points on the camera image plane can track the target feature points timely and keep them in the desired positions on the image plane.For the tracking control of the wheeled mobile robots, a tracking controller was proposed by using the T-S fuzzy neural network.The configuration and speed of wheeled mobile robots can be adjusted from by virtue of visual servoing feedback to implement an effective target tracking.The simulation results illustrate the effectiveness of the scheme propvided. |
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| Keywords: | camera wheeled mobile robots fuzzy neural network track |
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