Research On Motion Control And Target Tracking Based On Robot

The detection and tracking of the moving objects is one of the most important branches in the computer vision, which combines advanced technologies and research achievements in image processing, pattern recognition, artificial intelligence, automatic control and other relative fields. It has broadly applied in video surveillance, robots navigation, video transmission, video retrieval, medical image analysis, Meteorological analysis and other fields, so this subject has important theoretical significance and wide practical value.At the same time , with the development of robot technology, human being is going to be replaced by robot in more and more sections, and those high danger and high tempreture place where human beings can not get to is able to be adventured. In order to make robotic activity especially timely , it is very necessary to assemble an eye for the robot. With the union between robot technology and machine vision, the auto-moving robot appeared. The main platform of this issue is the AS-R robot which have the atuo-moving ability, and it's content mainly is owing to robotic target tracking.The main of this issue mainly contants the following clauses:1 .It has described the AS-R robot system structure , has been in progress to each modules of robot operating principle expounding, has pointed out and interface function packaged by each modules, and application methodsof thoes interfaces.2. Then mean shift tracking algorithm is studied, aiming to mean shift algorithm does not use the motion information of target which may fail to track target when there are serious disturbances, an improved target tracking algorithm based on mean shift and target position prediction is proposed. According to different disturbance circumstances, adopt different scale factors to combine Kalman filter prediction result with mean shift tracking result. The improved algorithm makes good use of space position of the target, so tracking reliability is increased.3.On the platform of VC6.0,making use of the telecamera collects an image to system memory, carrying out the target detecting and track, that the pixel level displacement mounting an object changes the image into the robot uses the driving wheel motion, reaches the purpose of tracking.It gives two tracking methods based on vision. One is based on color information ,and another is based on the Meanshift algorithm. The formar one is not widely used.On making use of the sensors infront of the platform, the robot can keep a certain distance from the target and obstruction, so thetracking security is realized. Result indicates that the main idea of this thesis adopt track method being able to be fairly good for the mission of tracking.