@inproceedings{3fffa755bb944147853f2ee6713f025f,
title = "Robust visual tracking control of a nonholonomic mobile robot with depth-based camshift",
abstract = "This paper mainly addresses the problem of tracking a moving target for a nonholonomic mobile robot equipped with an on-board camera. A visual tracking control system consisting of a robust visual tracking algorithm and a robust visual tracking controller is developed. The proposed visual tracking algorithm, namely the depth-based Camshift, possesses robustness against partial occlusion, image noise, deformation and similar-colored objects. Supplied with direct measurements from visual tacking, a robust controller is developed based on the idea of feedback linearization and sliding mode techniques to decouple relative motion equation in kinematic level and overcome unknown motion of the target. Simulation studies and experiments are conducted then to verify the performance of proposed controller and the whole mobile robot tracking scheme.",
keywords = "Depth-based Camshift, Mobile Robots, Visual Servo, Visual Tracking Control",
author = "Erhan Zhao and Baoli Ma",
note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",
year = "2019",
month = jul,
doi = "10.23919/ChiCC.2019.8866401",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "815--821",
editor = "Minyue Fu and Jian Sun",
booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",
address = "美国",
}