| 智能移动机器人跟踪系统应用研究与设计 |
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| 引用本文： | 刘伟,王建平,张崇巍.智能移动机器人跟踪系统应用研究与设计[J].计算机工程与应用,2010,46(31):239-242. |
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| 作者姓名： | 刘伟 王建平 张崇巍 |
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| 作者单位： | 1. 合肥工业大学,电气与自动化工程学院,合肥,230009;合肥学院智能控制与机器视觉实验室,合肥,230106
2. 合肥工业大学,电气与自动化工程学院,合肥,230009 |
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| 基金项目： | 安徽省高等学校优秀青年人才基金，合肥学院自然科学基金，合肥学院重点实验室建设资金 |
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| 摘 要： | 针对移动机器人检测与跟踪系统的世界模型，从智能控制与模式识别方法和传统控制理论相结合的思想出发，提出一种多层次、多阶段的智能控制模型结构。此结构仿人思维模式把复杂任务系统分解为感知、执行、决策三个层次，解决了复杂任务中不易建模的问题；跟踪过程采用Kalman预报器对运动目标状态进行一步预测估计和两步增量式跟踪算法，可快速平滑地实现移动机器人对运动目标的跟踪驱动控制。给出了该结构模型的移动机器人视觉检测识别和跟踪控制系统在汽车桩考中的实际应用。
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| 关 键 词： | 智能控制模型 Kalman滤波器 移动机器人 汽车桩考 |
| 收稿时间： | 2009-8-14 |
| 修稿时间： | 2009-10-15
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Research and design of application of track moving objects system by intelligent robot |
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| LIU Wei,WANG Jian-ping,ZHANG Chong-wei.Research and design of application of track moving objects system by intelligent robot[J].Computer Engineering and Applications,2010,46(31):239-242. |
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| Authors: | LIU Wei WANG Jian-ping ZHANG Chong-wei |
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| Affiliation: | 1.School of Electric Engineering and Automation, Heifei University of Technology, Hefei 230009, China 2.Intelligent Control and Compute Vision Lab, Hefei University, Hefei 230106, China) |
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| Abstract: | Aiming at the complex world model of moving robot detecting and tracking system, a intelligent control model structure of three-level-three-stage is presented from the thought combining the methods of intelligent control and pattern recognition and the theories of traditional controls.The model structure based on human thought can partition complex task into 3 layers： respondering, execution, decision, which solves the problem of modeling of complex task.The moving objects state forecast and two steps increment tracking algorithm based on Kalman filter can drive the mobile robot to track the moving objects quickly and smoothly.The system of detect and track moving objects based on vision is applied in the automobile stake. |
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| Keywords: | intelligent control modle Kalman filter moving robot automobile stake |
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