Target Tracking Control Of Mobile Robot In Diversified Maneuver Modes

The target tracking control of mobile robot has become the popular field in roboticresearch. The mobile robot needs to switch maneuver mode to change its orientation and pathduring the target tracking process because of space limitation and task requirement, however,the research on the target tracking control of mobile robot in diversified maneuver modes is inblank and the existing target tracking control approaches fail to track the target swiftly andaccurately when the mobile robot moves in diversified maneuver modes. This thesis issupported by Project of National Natural Science Foundation of China named “Trafficabilitycontrol with low-power consumption toward wheeled robot in rough terrain (60775060)”, andit proposes a target tracking control method of mobile robot which is feasible in diversifiedmaneuver modes.Firstly, according to the task requirement, propose the overall scheme of the targettracking control of mobile robot in diversified maneuver modes, build the hardware platformby choosing the combination of mobile robot and target tracking module, and establish thesoftware design framework of the target tracking control system based on the modular designand the multithread technology.Secondly, select color as the target feature, expound the target tracking algorithm ofCMUcam3, select the Camshift algorithm as the target tracking algorithm of the Logitechcamera, and expound the implementation of the Camshift algorithm, then conduct the targettracking experiments with CMUcam3and the Logitech camera respectively to verify thefeasibility of their corresponding algorithms.Thirdly, define the coordinate systems, calibrate the Logitech camera using the pinholemodel and calculate the intrinsic parameters, expound the kinematic characteristics of theseven different maneuver modes respectively, deduce the angle variation rates of the pan/tiltservo mechanism when the mobile robot tracks the target on the two-dimensional flat groundand in three-dimensional rough terrain respectively, define the tracking error function, deducethe relationship between the tracking error in the image plane and the pan/tilt angledifferences, build the dynamic model of the pan/tilt servos, employ the PI controller for thetarget tracking control, set the thresholds for the tracking error to prevent the pan/tilt servos from oscillating frequently.Finally, write the general program of the target tracking control and the remote controlprogram, conduct the target tracking experiments on the two-dimensional flat ground and inthree-dimensional rough terrain respectively that the mobile robot moves in seven differentmaneuver modes while keeps tracking the target, the experimental results validate the fairlygood accuracy and speediness of the proposed target tracking control method, however, theaccuracy of the target tracking varies greatly among the maneuver modes. Then present adetailed error analysis and a comparative analysis on the tracking effect between the twotarget tracking modules.