Research On Mobile Robot Target Tracking Method Based On Camshift Algorithm

The research of robots in the world has made remarkable achievements.The implementation of the task of the mobile robot in a specific environment has been relatively mature.In the unstructured environment with personnel activities,it is an important task in the field of robot research to realize the harmony between the robot and human.In the past,there have been a variety of research on mobile robots.It is difficult to realize the object recognition and obstacle avoidance in the environment.So the mobile robot can identify the target in the environment and fix the tracking target in real time,avoiding the obstacle is the prerequisite for its natural cohabitation in the living environment.In view of the research on the intelligent perception of indoor environment of mobile robot,the four round omnidirectional mobile robot based on the mobile characteristics of the Mecanum wheel is designed,which can realize the multi-dimensional motion mode of front and back,left and right,oblique direction and the original zero radius.Secondly,the vehicle sensor system is built,including visual system and obstacle avoidance system.As the main medium of obtaining scene information,the visual system is preprocessed by the video image sequence obtained by the camera.In the case of accurate and complete image information,the computation is reduced and the mobile robot can be understood.The obstacle avoidance system is used as the auxiliary operation of the visual system.When the safe distance between the mobile robot and the moving object reaches the limit value,the obstacle avoidance program is started to realize the rapid stop state of the robot and ensure the safety of the persons,robot,and object.Thirdly,the data processing center is set up the database and form,robot and the database are connected with the wireless LAN,the mobile robot can scan the running mode continuously.The state information in the form is used to implement the motion command.Finally,in view of all kinds of instability and interference in the indoor environment scene,after comparison and analysis of several algorithms,the Camshift algorithm is used to realize the detection and recognition and tracking of moving objects based on the dynamic target color histogram,and the multi-dimensional motion mode can be completed by the experimental mobile robot,and the experimental results conform to the plan requirements.