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A prey-predator model for efficient robot tracking
Tang FZ(唐凤珍); Si BL(斯白露); Ji DX(冀大雄)
Department机器人学研究室
Conference Name2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Conference DateMay 29 - June 3, 2017
Conference PlaceSingapore, Singapore
Source PublicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Publication PlaceNew York
2017
Pages3568-3574
Indexed ByEI
EI Accession number20173504081672
Contribution Rank1
ISSN1050-4729
ISBN978-1-5090-4633-1
AbstractTracking 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20861
Collection机器人学研究室
Corresponding AuthorTang FZ(唐凤珍)
Affiliation1.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
Recommended Citation
GB/T 7714
Tang FZ,Si BL,Ji DX. A prey-predator model for efficient robot tracking[C]. New York:IEEE,2017:3568-3574.
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