Dissertation > Excellent graduate degree dissertation topics show

Research on Tracking Dynamic Object for Mobile Robot

Author: MengQingChun
Tutor: MaZi
School: Dalian Maritime University
Course: Control Theory and Control Engineering
Keywords: Kalman Filter Pioneer3-DX Object Tracking Color Identification Seed Filling
CLC: TP242
Type: Master's thesis
Year: 2008
Downloads: 219
Quote: 2
Read: Download Dissertation

Abstract


For the research topic of mobile robot, the following main contributions about visual tracking are presented in the thesis: The mobile robot tracking algorithm based on the monocular vision is discussed; overall framework to track moving object is designed; based on the pan-tilt camera, a pure color object identification and tracking system is established. So that pure color object is tracked by the mobile robot successfully.Firstly, Kalman filter algorithms is introduced, and it is used to filter the historical position so that the dynamic parameters are estimated. Some experiment results show that the dynamic process of tracking moving object via pan-tilt cameras is more smoothly, also the tracking rate is more quickly due to use the Kalman filtering algorithm.Secondly, for improving the dynamic performance, from establishing the mathematical model of the camera, the relationship between the images target and the rotation angle of the pan-tilt can be described effectively so that the pan-tilt equipment is controlled to keep the goal in the field of the central region.Thirdly, HSI and RGB color model is introduced. Some experiments are done to compared the both of color models. In addition, a seed filling algorithm is used to pick-up the target from the image information.Finally, the flow chart of the presented and experimental results with their analysis are given. Under the VC++.NET2003 environment, a friendly interface is developed so that the control of pan-tilt and the robot’s motion control function modules are combined organically.

Related Dissertations

  1. Algorithm Research on SINS/GPS Integrated Navigation Syste,V249.328
  2. Satellite Attitude Determination Based on Gyro and Star Sensor,V448.2
  3. The Research of Moving Object Tracking System Based on Embeded Image Process Unit,TP391.41
  4. Design of Gyro Stabilized Pod Control System,TP273
  5. Time Delay Estimation in Distributed Optical Fiber Sensing and Positioning System,TN95
  6. On Application of GPS to Navigation and Positioning for Mini-UAV,V249.3
  7. Research on Algorithm of GPS/INS Data Fusion in Land Vehicle,P228.4
  8. Research of Positioning Algorithm Based on Cellular System,TN929.53
  9. The Study on Counting Passengers Based on Machine Vision,TP391.41
  10. AUV Integrated Navigation Algorithm Study and System Implementation,U666.1
  11. Research and Application of High-precision Positioning Technology Based on Wireless Sensor Networks,TN929.5
  12. Research on Vehicle-Borne Integrated Navigation System in Complex Environment,TN967.2
  13. Research on Fault Diagnosis of Integrated Navigation System Based on IMM Algorithm,V249.328
  14. Satellite Formation Satellite Relative Measurement Technology,V448.2
  15. Research on Filtering for Local Strongly Coupled Systems,TN713
  16. Research on High-precision Measurement and Modeling of High Voltage Electric Transformers,TM452
  17. Structural constraints of the dynamic PET image reconstruction,TP391.41
  18. Based on Vxworks Train Integrated Positioning System Design and Implementation,TP368.12
  19. Image Understanding tank unit tactical training system based on,TP391.41
  20. Research on Technology of the Embeded GPS/SINS Integrated Navigation System,V448.2
  21. Mobile robot based on GPS / DR integrated positioning technology research,TN967.2

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile