Persistent Tracking of a Dynamic Target by a Mobile Robot
A novel pursuing algorithm,together with a new experiment method,is introduced to drive a nonholonomic mobile robot tracking a dynamic target in the framework of pursuit-evasion game.Specifically,a pan-tilt with an on-board camera is attached to the mobile robot to construct a tracking system,which greatly improves the maneuverability compared with the traditional method.To keep the target close enough to the vision center of the camera,a control technique is devised according to its kinematic model and Lyapunov theory.By utilizing game theory,the viability set is determined.A tracking controller is employed to guarantee persistent tracking for the dynamic target,where the relative position between the target and the robot is successfully acquired from the visual measurements by the utilization of geometric analysis.Both simulation and experimental results are provided to illustrate the performance of the controller.
Nonholonomic Constraint Camera Tracking Mobile Control Lyapunov Theory
LIANG Xiao FANG Yongchun YANG Dedong
Institute of Robotics and Automatic Information System,Nankai University,Tianjin 300071,P.R.China;Ti Shool of Control Science and Engineering,Hebei University of Technology,Tianjin 300130,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
2194-2199
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）