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Vision-based wheeled mobile robot target tracking technology

Author: YanHui
Tutor: ChenQingWei
School: Nanjing University of Technology and Engineering
Course: Control Theory and Control Engineering
Keywords: Wheeled Mobile Robots Image processing Visual navigation Moving Target Kalman filter Monocular vision
CLC: TP242
Type: Master's thesis
Year: 2005
Downloads: 577
Quote: 5
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Abstract


Visual navigation is one of the focus of the wheeled mobile robot . In this paper, the robot body , car camera motion in case of moving target tracking conducted in-depth research and experimental validation . In this paper, design the overall framework of the the robot moving target tracking . Modular design, the treatment process is divided into of hardware startup module , the image processing module , and decision-making module . Each module implement its functions , and cooperation component systems , complete the image recognition , positioning and navigation, target tracking tasks . Image processing module , we use a pretreatment method for the real-time requirements of this topic . In the image segmentation , the use of appropriate segmentation method and experimental results are given that the method can segment the image into separate target candidate region . In this part of the target recognition , target characteristics of moment invariants algorithm and Kalman filtering method successfully achieved the target feature point position prediction and the relative speed of the target image . In order to reduce the amount of computation , using the the change search box range method . The experimental results show that the Kalman filter method is stable , accurate, and changes in the scope of the search box approach helps to reduce the computation time , reduce the rate of target mismatch . In the decision-making of the campaign , by reading the encoder value , PID control method to achieve the wheel speed closed-loop control . Need to be in motion control coordinate system conversion , depending on the camera model perspective and the principle of inverse perspective derived from the vehicle coordinate system coordinate conversion formula to the image coordinate system coordinates . When it comes to the body , camera coordinated motion control , we derived the relationship between the image on the target location and PTZ Control Camera Angle , and designed a program coordinating body and the camera motion . In this paper, using Visual C integrated development environment, programming the function of each module . Experimental results show that the robot to complete the mission requirements , meet the real-time , accurate to identify and track the target .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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