TY - GEN
T1 - Switching control of a mecanum wheeled mobile robot for vision-based tracking with intermittent image losses
AU - Zhang, Lixian
AU - Wang, Shuyuan
AU - Cai, Bo
AU - Liu, Tianhe
AU - Cheng, Yiming
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Vision-based detection and estimation technologies play crucial roles in target tracking for autonomous vehicles. However, for vision system it is difficult to continuously collect the image information due to occlusion, feature matching failure, etc. This paper is concerned with the target tracking problem for a Mecanum wheeled mobile robot (MWMR) with camera in the presence of intermittent image losses. A switching scheme with two control strategies has been developed to deal with the problem. During the period when the target image is acquired, a stabilizing controller is designed to ensure the convergence of tracking error. When the target image is lost, a predictor is used to provide the controller with estimated tracking error, by which a regular graphic region containing the real position of the target is determined. The stability condition for the tracking system with minimum dwell-time during which the image is acquired has been obtained utilizing the region. Simulation results verify the effectiveness of the proposed methods.
AB - Vision-based detection and estimation technologies play crucial roles in target tracking for autonomous vehicles. However, for vision system it is difficult to continuously collect the image information due to occlusion, feature matching failure, etc. This paper is concerned with the target tracking problem for a Mecanum wheeled mobile robot (MWMR) with camera in the presence of intermittent image losses. A switching scheme with two control strategies has been developed to deal with the problem. During the period when the target image is acquired, a stabilizing controller is designed to ensure the convergence of tracking error. When the target image is lost, a predictor is used to provide the controller with estimated tracking error, by which a regular graphic region containing the real position of the target is determined. The stability condition for the tracking system with minimum dwell-time during which the image is acquired has been obtained utilizing the region. Simulation results verify the effectiveness of the proposed methods.
KW - Intermittent image losses
KW - Mecanum wheeled robot
KW - Switching control
KW - Target tracking
UR - https://www.scopus.com/pages/publications/85076751061
U2 - 10.1109/SMC.2019.8914160
DO - 10.1109/SMC.2019.8914160
M3 - 会议稿件
AN - SCOPUS:85076751061
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 493
EP - 499
BT - 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
Y2 - 6 October 2019 through 9 October 2019
ER -