Research and Design of Mobile Robot Moving Object Tracking System On Hierarchical Control

摘要：

A intelligent control model structure of doublelevel-three-stage is presented to deal with the moving robot detecting and tracking system. According to basic ideas of imitation of human intelligence control, it includes Decisionmaking level and Execution level, each level is decomposed into 3 stages.In the process of tracking, the moving objects state forecast and two-step increment tracking algorithm based on Kalman filter are adopted to drive the mobile robot quickly and smoothly. The robot system to detect and track moving objects with the model structure is designed and its application in automobile stake is illustrated.

关键词： intelligent control system vision track kalman filter automobile stake component

作者: Liuwei WANG Jian-ping Zhang chongwei Tanmin Wangjun

作者单位: School of Electrical Engineering and Automation, Hefei University of Technology Hefei University Key School of Electrical Engineering and Automation , Hefei University of Technology Hefei, China Hefei University Key Laboratory of Machine Vision and Intelligence Control Technology Hefei, China

会议类型: 国际会议

会议名称: The 2010 International Conference on Computer Application and System Modeling(2010计算机应用与系统建模国际会议 ICCASM 2010)

会议地点: 太原

会议语种:英文

页码: 1-5

在线出版日期: 2010-10-22（万方平台首次上网日期，不代表论文的发表时间）