Intelligent control of mobile robot when tracking a moving object

被引：0

作者：

Sukhoruchkina O.N. ^{[1
]}

Progonnyi N.V. ^{[1
]}

机构：

[1] International Research and Training Center of Information Technologies and Systems of National Academy of Sciences of Ukraine, Ministry of Education and Science of Ukraine, Kiev

来源：

Journal of Automation and Information Sciences | 2019年 / 51卷 / 11期

关键词：

Intelligent control; Mobile robot; Pattern recognition; Visual navigation;

D O I：

10.1615/JAutomatInfScien.v51.i11.50

中图分类号：

学科分类号：

摘要：

The questions of the practical implementation of the mobile robot intelligent control in dynamic environment when it performs a mission of tracking a moving object are considered. Information about positions of the target objects and other ones in the robot environment is generated as a result of analyzing images of on-board robot camera. In this case, the goal of the robot motion control is not to pursue the object as in the well-known formulation of problems in game theory, optimal control, etc. Also, the goals of this work do not cover analysis or development of new methods and algorithms for pattern recognition of objects. In our case tracking implies the robot autonomous ability to observe the dynamics and trajectories of the target object movement with respect to the environment model, and the image analysis subsystem is based on one of the well-known algorithms for detecting and recognizing objects, which can be replaced if necessary by any other one. The robot control system is responsible for determining the parameters of its motion such that the target object is hold mainly in the center of field of view of the robot on-board camera at a given distance from it, and the robot trajectory is collision-free with the obstacles. Planning a safe trajectory of the robot motion is carried out to the nearest position of the set of possible ones at which the robot camera can perceive the target object without significant overlap by other objects. Also, when the robot performs the main mission, the intelligent control system is able to determine and activate situationally urgent robot actions, such as its localization with respect to the working room, searching for the target object when it is not in the camera field of view, etc. The work mainly focuses on the technique for providing the sufficient information awareness for the intelligent control system of the mobile robot when it autonomously executes the mission “Track object”. Illustrations that demonstrate the results of performing this mission by the robot are presented. © 2019 by Begell House Inc.

引用

页码：50 / 62

页数：12

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