上海理工大学学报
上海理工大學學報
상해리공대학학보
2014年
4期
385-390
,共6页
摄像机%轮式移动机器人%模糊神经网络%跟踪
攝像機%輪式移動機器人%模糊神經網絡%跟蹤
섭상궤%륜식이동궤기인%모호신경망락%근종
camera%wheeled mobile robots%fuzzy neural network%track
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。
針對車載單目攝像機的輪式移動機器人的目標跟蹤問題，提齣一種模糊跟蹤控製方案。方案分為兩部分，分彆為攝像機控製部分和輪式移動機器人控製部分。攝像機控製部分通過相關特徵點之間的連線的夾角設計攝像機雲檯控製器，使攝像機能夠實時跟蹤目標，保持目標在圖像平麵的期望位置上。輪式移動機器人控製部分通過設計T-S模糊神經網絡控製器使其能夠在視覺伺服反饋下實時調整速度和姿態，實現目標的有效跟蹤。倣真結果錶明瞭本文方法的有效性。
침대차재단목섭상궤적륜식이동궤기인적목표근종문제，제출일충모호근종공제방안。방안분위량부분，분별위섭상궤공제부분화륜식이동궤기인공제부분。섭상궤공제부분통과상관특정점지간적련선적협각설계섭상궤운태공제기，사섭상궤능구실시근종목표，보지목표재도상평면적기망위치상。륜식이동궤기인공제부분통과설계T-S모호신경망락공제기사기능구재시각사복반궤하실시조정속도화자태，실현목표적유효근종。방진결과표명료본문방법적유효성。
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.
