TY - GEN
T1 - Vision-based Adaptive Tracking Control of a Mobile Robot
T2 - 34th Chinese Control and Decision Conference, CCDC 2022
AU - Ma, Mingxiao
AU - Qian, Rui
AU - Wang, Wei
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper mainly investigates the problem of vision-based tracking control for a mobile robot. A RGB-D camera is used to obtain the image with depth information. The proposed visual tracking algorithm, namely the multi-feature fusion Kernel Correlation Filters (MF-KCF), enhances the tracking capability by adding image features and dynamically adjusting scale factor and model updating strategy. To handle the issues with unknown velocity of the moving target and field-of-view for the camera, an adaptive controller is designed by incorporating the prescribed performance bound (PPB) technique. Finally, an experimental platform based on ROS (Robot Operating System) is established which contains mobile base, visual sensor and Jetson TK1, etc. The MF-KCF algorithm and PPB-based adaptive controller are successfully applied to the actual experiment to verify the effectiveness of the adaptive vision-based tracking system.
AB - This paper mainly investigates the problem of vision-based tracking control for a mobile robot. A RGB-D camera is used to obtain the image with depth information. The proposed visual tracking algorithm, namely the multi-feature fusion Kernel Correlation Filters (MF-KCF), enhances the tracking capability by adding image features and dynamically adjusting scale factor and model updating strategy. To handle the issues with unknown velocity of the moving target and field-of-view for the camera, an adaptive controller is designed by incorporating the prescribed performance bound (PPB) technique. Finally, an experimental platform based on ROS (Robot Operating System) is established which contains mobile base, visual sensor and Jetson TK1, etc. The MF-KCF algorithm and PPB-based adaptive controller are successfully applied to the actual experiment to verify the effectiveness of the adaptive vision-based tracking system.
KW - Adaptive Control
KW - Kernel Correlation Filters
KW - Target Tracking
KW - Visibility Constraint
UR - https://www.scopus.com/pages/publications/85149576833
U2 - 10.1109/CCDC55256.2022.10034204
DO - 10.1109/CCDC55256.2022.10034204
M3 - 会议稿件
AN - SCOPUS:85149576833
T3 - Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022
SP - 5732
EP - 5737
BT - Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 15 August 2022 through 17 August 2022
ER -