SIA OpenIR  > 机器人学研究室
基于UKF的双飞行机器人三维动目标合作定位与跟踪方法
Alternative TitleUKF based Moving Target Localizing and Tracking Method In 3D Environments
何玉庆; 陈盛福; 谷丰; 韩建达; 董慧颖
Department机器人学研究室
Conference Name2012 31th Chinese Control Conference
Conference DateJuly 25-27, 2012
Conference PlaceHefei, China
Author of SourceTechnical Committee on Control Theory,Chinese Association of Automation
Source PublicationProceedings of the 31st Chinese Control Conference
PublisherChinese Association of Automation
Publication PlaceBeijing
2012
Pages5088-5093
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130716024324
WOS IDWOS:000393905905037
Contribution Rank1
Keyword多机器人协作 合作观测 无色卡尔曼滤波 编队控制
Abstract对动态目标的定位与跟踪是移动机器人的主要应用背景之一,但由于栽重能力、造价等因素,单机器人所携带的传感装置往往难以实现高精度的动目标观测。本文研究了利用两个移动机器人对运动目标实施高精度协作三维定位与跟踪的问题。文章以两个装配单目视觉系统的飞行机器人系统,以双目立体视觉原理为基础,提出了所谓动态立体视觉的高精度动目标三维定位算法;同时,为了改善观测精度与持续观测能力,利用UKF算法的信息融合能力及动态估计能力,设计了飞行机器人对动态目标的运动状态估计算法;接着,利用编队控制算法结合动态观测结果实现了飞行机器人对动态目标的持续跟踪;最后,为了检验所研究方法的可行性和有效性,在室内多旋翼飞行机器人实验平台上进行了实验研究。
Other AbstractSimultaneously localizing and tracking of moving target is one of the most important applications of mobile robot system.However,single robot often presents great limitation when facing such tasks because the equipped sensors are often with low precision considering factors of loading ability and cost.Thus,in this paper,cooperative strategy of multiple robot sy stems is researched to handle this problem.Firstly,3D localizing algorithm of two robot systems using vision sensors is proposed based on the basic ...
Language中文
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10225
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China
2.Shenyang Ligong University, School of Information Science and Engineering, Shenyang, Liaoning, 110159, China
Recommended Citation
GB/T 7714
何玉庆,陈盛福,谷丰,等. 基于UKF的双飞行机器人三维动目标合作定位与跟踪方法[C]//Technical Committee on Control Theory,Chinese Association of Automation. Beijing:Chinese Association of Automation,2012:5088-5093.
Files in This Item: Download All
File Name/Size DocType Version Access License
基于UKF的双飞行机器人三维动目标合作定(982KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[何玉庆]'s Articles
[陈盛福]'s Articles
[谷丰]'s Articles
Baidu academic
Similar articles in Baidu academic
[何玉庆]'s Articles
[陈盛福]'s Articles
[谷丰]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[何玉庆]'s Articles
[陈盛福]'s Articles
[谷丰]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于UKF的双飞行机器人三维动目标合作定位与跟踪方法.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.