A Prototype Target Tracking Network System for Robot Feedback Control

摘要：

In this paper, a real-time location feedback control system based on multi-sensor network is proposed for the precise control of a moving robot. The target tracking network system is a real test-bed that consists of a group of ultrasonic sensor nodes, a mobile robot and two laptops. In order to pursue excellent tracking performance and modify the robots trajectory promptly, Extended Kalman Filtering algorithm as well as a kind of scheduling scheme based on location is applied in the system. The experiment result validates the correctness of the Extended Kalman Filter (EKF) and shows that the target tracking network system is effective for robot feedback control.

关键词： wireless sensor network target tracking Extended Kalman Filter scheduling scheme robot feedback control

作者: Ling Zhao Jingzhi Ye Wenfeng Luo

作者单位: Center for Control and Optimization South China University of Technology Guangzhou, 510640, China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Applied Mechanics(2011年机电一体化与应用力学国际会议 ICMAM 2011)

会议地点: 香港

会议语种:英文

页码: 1431-1435

在线出版日期: 2011-12-27（万方平台首次上网日期，不代表论文的发表时间）