SIA OpenIR  > 机器人学研究室
A prey-predator model for efficient robot tracking
Tang FZ(唐凤珍); Si BL(斯白露); Ji DX(冀大雄)
作者部门机器人学研究室
会议名称2017 IEEE International Conference on Robotics and Automation, ICRA 2017
会议日期May 29 - June 3, 2017
会议地点Singapore, Singapore
会议录名称Proceedings - IEEE International Conference on Robotics and Automation
出版者IEEE
出版地New York
2017
页码3568-3574
收录类别EI
EI收录号20173504081672
产权排序1
ISSN号1050-4729
ISBN号978-1-5090-4633-1
摘要Tracking is a common topic in various areas of robotics research. Motivated by the hunting behavior of predators in nature, we propose a prey-predator model for efficient robot tracking. The head direction and speed of the pursuer is automatically adjusted according to the position and velocity of the prey. Under the situation with perception uncertainty, where the actual location of the prey is not observable, the pursuer predicts the location of the prey according to simple inference, an online adaptive autoregressive model, or an online adaptive echo state network. Simulation results demonstrate that the proposed prey-predator model is able to control the pursuer and to track the prey efficiently, even under perception uncertainty. Simple inference gives better results when the motion of the target is piecewise linear, while echo state network is more suitable when the dynamics of the target are more complex. The proposed prey-predator model thus provides an efficient method tracking targets with various statistical nature of trajectories for applications such as underwater robot tracking, human tracking and team formation.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20861
专题机器人学研究室
通讯作者Tang FZ(唐凤珍)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Nanta Street 114, Shenyang, 110016, China
2.Institute of Marine Robot, Ocean College, Zhejiang University, Zhoushan, Zhejiang, 316021, China
推荐引用方式
GB/T 7714
Tang FZ,Si BL,Ji DX. A prey-predator model for efficient robot tracking[C]. New York:IEEE,2017:3568-3574.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
A prey-predator mode(1567KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Tang FZ(唐凤珍)]的文章
[Si BL(斯白露)]的文章
[Ji DX(冀大雄)]的文章
百度学术
百度学术中相似的文章
[Tang FZ(唐凤珍)]的文章
[Si BL(斯白露)]的文章
[Ji DX(冀大雄)]的文章
必应学术
必应学术中相似的文章
[Tang FZ(唐凤珍)]的文章
[Si BL(斯白露)]的文章
[Ji DX(冀大雄)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: A prey-predator model for efficient robot tracking.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。