The Design And Implementation Of Autonomous Tracking System Based On Mobile Visual Robot Platform

In recent years, with the promotion of science and computer technology and the intensive research on the field of computer vision and artificial intelligence, intelligent mobile robot technology has been developed rapidly. The target tracking technology of mobile vision robot is one of the key techniques in the research of intelligent mobile robot and it has a wide application prospect in the related fields.The design of autonomous tracking system based on mobile visual robot generally includes two section:one section is, a real-time target tracking algorithm for the current mobile visual robot platform; another section is, robot motion control algorithm that based on the visual target tracking.The former is the decision-making basis of robot tracking behavior, and the latter is the specific executive procedure for tracking behavior.Based on the Koala mobile robot as our experiment mobile carrier, we study and design a target fast tracking algorithm that based on compressive feature. And it can enable tracking effect for moving target in Koala as the mobile visual robot’s environment. Our thesis mainly completed the following work:(1) The thesis surveys and analyses the research results and technical difficulties in target tracking is also introduced. In this thesis, we introduce a real-time compressive tracking algorithm and analyze the shortcomings of the algorithm and the intrinsic reason of this shortcomings.(2) Aiming at our task, we focus on the design of an improved compressive tracking algorithm based on adaptive feature selection. In this thesis, we improve the research from many aspects,such as the feature space generation and evaluation, the adaptive feature space selection, establishment of target feature probability estimation of multidimensional Gaussian model, the update mode of classifier and adjustment of search strategy. And we conduct contrast experiment based on the public tracking video library, and finally we from the perspective of qualitative and quantitative to analyze the experiment result and prove our the tracking algorithm has good performance in tracking accuracy and robustness.(3) The control of robot motion. Considering the real-time tracking and operational efficiency, this thesis designs a kind of motion control method based on visual. We make adjustment according to the relative spatial location information between the camera and the robot’s position to change the motion parameters dynamically, and finally realize the aim of rapid and continuous tracking effect.(4) We set up the hardware system of robot visual tracking based on the Koala robot as the carrier, and complete the design of hardware debug such as serial communication program. Finally, we use the tracking algorithm proposed in this thesis to realize the task of tracking moving target base on mobile visual robot.Aiming at Koala robot as the mobile visual robot platform, this thesis proposes an improved real-time compressive tracking algorithm, and proves the effectiveness by the video; On this basis, we establish the mobile robot autonomous tracking system based on visual information and achieve the stable tracking effect for unspecified target.