Autonomous mobile target tracking system based on grey-fuzzycontrol algorithm
Luo, R.C.
Tse Min Chen
Dept. of Electr. Eng., Nat. Chung Cheng Univ., Chia;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Aug 2000
Volume: 47,
Issue: 4
On page(s): 920-931
ISSN: 0278-0046
References Cited: 12
CODEN: ITIED6
INSPEC Accession Number: 6685879
Digital Object Identifier: 10.1109/41.857973
Current Version Published: 2002-08-06
Abstract
This paper presents a new position-based tracking system for
autonomous mobile target tracking task. A grey-fuzzy controller (GFC) is
developed for motion control of the tracker, in which dynamics models of
the target and tracker are not required a priori. The target detection
is based on the adaptive visual detector (AVD), which can online adjust
the histogram model based on the change of surrounding conditions, such
as light variation, in a natural environment. The AVD and GFC are
integrated together for mobile target-tracking applications. There are
several advantages of the integrated system, in particular: (1) it can
rapidly learn the target appearance model for the detection involved
with the tracking task; (2) the temporal dynamics model of the target
motion can be approximated for the predictive localization of the moving
target; and (3) the system can deal with the uncertain environmental
conditions to ensure the tracking performance by GFC. Three mobile
robots in the authors' laboratory have been used to demonstrate the
success of this integrated system experimentally. They also conduct
target tracking experiments, in which Chung Cheng-I tracks various
moving targets. The results demonstrate the robustness and flexibility
of the overall system in dealing with mobile target-tracking problems
under varied natural environment conditions
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