Visual target tracking based on dynamic fuzzy-model control

被引：0
作者：
Zheng J. [1 ]
Cao B. [1 ]
Bi S. [1 ]
Yang D. [1 ]
机构：
[1] School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing
来源：
Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology | 2019年 / 51卷 / 01期
关键词：
HOG feature; T-S fuzzy; Target tracking; Visual inspection; Wheel Mobile Robot;
D O I：
10.11918/j.issn.0367-6234.201803093
中图分类号：
学科分类号：
摘要：
The problem, that the angle control of the mobile robot's visual target following system based on the traditional linear control law cannot satisfy the need of high efficiency and fastness so that the target is easy missed, is focused in this paper. A visual following method based on dynamic T-S fuzzy control is proposed. The HOG algorithm is used to detect the target and the target position vector is obtained by the camera model. Based on the T-S fuzzy control, dynamic processing is performed to further improve the response speed of angular error convergence. The simulation by MATLAB shows that the convergence time of the angle error is less than 0.4 second. Therefore, the improved fuzzy control method can effectively improve the response speed of the angle error, shorten the time of the angle error convergence, and make the follow-up system have better rapidity and adaptability. By experiment on the mobile robot platform, the convergence time of the angle error is less than 0.5 second. © 2019, Editorial Board of Journal of Harbin Institute of Technology. All right reserved.
引用
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页码：178 / 183
页数：5
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