Abstract
Aiming at the problem of single target object detection and tracking in unknown environment, we propose a dynamic target tracking and positioning method based on integral compensation algorithm. The discrete digital quantity is quantized and transformed into a continuous analog quantity, and the tracking direction is controlled by the angular rate control function. In the process of tracking, if the motion state of the target changes, the control function is directly integrated with the compensation algorithm to get a new tracking direction. Through the mathematical modeling analysis and experimental tests, experiments showed that in the single dynamic target object tracking, for the general object dynamic tracking, has a good dynamic, real-time. It has a certain application prospect in single target detection and multi-target tracking accuracy correction.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Cho, B., Moon, W., Seo, W., et al.: A dead reckoning localization system for mobile robots using inertial sensors and Whell revolution encoding. J. Mech. Sci. Technol. 25(11), 2907–2917 (2011)
Desouza, G.N., Kak, A.C.: Vision for mobile robot navigation: a survey. IEEE Trans. Pattern Anal. Mach. Intell. 24(2), 237–267 (2002)
Kuang, J.M., Liu, M., Lin, X.: Moving target tracking of omnidirectional robot with stereo cameras. In: InTech Book, pp. 197–220 (2008)
Jung, B., Sukhatme, G.S.: Cooperative Multi-robot Target Tracking. Minneapolis, Minnesota, pp. 81–90 (2006)
Kieffer, M., Jaulin, L., Walter, E., Meizel, D.: Guaranteed mobile robot tracking using interval analysis. In: MISC 1999, Workshop on Application of Interval Analysis to System and Control, February 1999, Girona, Spain, pp. 347–360 (1999)
Kanayama, Y., Kimura, Y., Miyazaki, F., Noguchi, T.: A Stable Tracking Control Method for an Autonomous
Rogge, J.A., Aeyels, D.: Multi-robot coverage to locate fixed and moving targets. In: 2009 IEEE Control Applications (CCA) & Intelligent Control (ISIC)
Rogge, J., Aeyels, D.: Multi-robot coverage to locate fixed targets using formation structures. Comput. Sci. 1–13 (2012)
Burgard, W., Moors, M., Stachniss, C., Schneider, F.: Coordinated multi-robot exploration. IEEE Trans. Rob. 21, 376–386 (2005)
Williams, R.L., Carter, B.E., Gallina, P., Rosati, G.: Dynamic model with slip for wheeled omnidirectional robots. IEEE Trans. Robot. Automat. 18, 285–293 (2002)
Kobilarov, M., Sukhatme, G., Hyams, J., Batavia, P.: People tracking and following with mobile robot using an omnidirectional camera and a laser. In: IEEE International Conference on Robotics and Automation (2006)
Marković, I., Chaumette, F., Petrovic, I.: Moving object detection, tracking and following using an omnidirectional camera on a mobile robot. In: IEEE International Conference on Robotics & Automation, pp. 5630–5635 (2014)
Blackman, S.S., Popoli, R.: Design and Analysis of Modern Tracking Systems. Artech House, Norwood (1999)
Yu, Q.: Research on Mobile Localization Techniques for Wheeled Restaurant Service Robots. Sanghai Jiao Tong University, Sanghai (2013)
Hu, J., Liu, Y., Liu, Z.: The research of dynamic obstacle avoidance on simulation robot soccer. Artif. Intell. Robot. Res. 03, 6–10 (2014)
Don, Y., Wangm, A., et al.: Research on novel self-location method for indoor robot based on RFID. In: Application Research of Computers, pp. 749–753 (2016)
Gao, W., Wang, H., et al.: Research on the calibration for a modular robot. J. Mech. Eng. 50(3), 33–40 (2014)
Gao, W., Zhou, L., et al.: Research overview of indoor localization methods for autonomous mobile robots. Transducer Microsyst. Technol. 32(12), 1–5 (2013)
Bao, Q., Li, S., et al.: Survey of local path planning of autonomous. Transducer Microsyst. Technol. 28(9), 1–4 (2009)
Li, Z., Can, Z., et al.: Target search strategy of no-difference between the groups of robots in martial arts contest. Microprocessors 34(6), 63–65 (2013)
Wang, D.: Autonomous Localization Technology of Mobile Robot. China Machine Press (2016)
Yan, Y., Wang, X., Liu, C.: Indoor moving target tracking method based on collaborative information fusion in Internet of Things. Chin. J. Sci. Instrum. 34(2), 352–358 (2013)
Liu, X., Zhou, J.: The research and practice of martial arts challenge robot. China Water Transp. 12(10), 89–90 (2012)
Liang, S., Wang, J., Wu, Y.: Fuzzy algorithm of target tracking control for multiple mobile robots. Process Autom. Instrum. 29(2), 5–7 (2014)
Yu, Q.: Research on mobile localization techniques for wheeled restaurant service robots. Shanghai Jiao Tong University, Shanghai (2013)
Zhao, Y., Chen, W.: State-of-the art in map based localization of mobile robot. J. Shang Hai Jiao Tong Univ. 36(10), 1435–1438 (2002)
Luo, R.-H., Hong, B.: The progress of simultaneous location and mapping for mobile robot. Robot 26(2), 182–186 (2004)
Acknowledgements
This work is supported by Natural Science Foundation of Guangdong Province (No. 2016A030307029) and Maoming Engineering Research Center on Industrial Internet of Things (No. 517018).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering
About this paper
Cite this paper
Xu, J., Lu, G., Lin, J., Huang, J. (2018). Research of Positioning Tracking on Dynamic Target Based on the Integral Complementing Algorithm. In: Romdhani, I., Shu, L., Takahiro, H., Zhou, Z., Gordon, T., Zeng, D. (eds) Collaborative Computing: Networking, Applications and Worksharing. CollaborateCom 2017. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 252. Springer, Cham. https://doi.org/10.1007/978-3-030-00916-8_5
Download citation
DOI: https://doi.org/10.1007/978-3-030-00916-8_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-00915-1
Online ISBN: 978-3-030-00916-8
eBook Packages: Computer ScienceComputer Science (R0)