Title :
Based on Kalman Filter the Mobile Manipulator Non-calibration Free Dynamic Target Tracking Technology Research
Author :
Sun, Lingyu ; Zhang, Minglu
Author_Institution :
Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin
Abstract :
This paper presents the un-calibrated vision servo control algorithm to track the target with mobile manipulator. Color histogram distance calculation methods and shape matching method are discussed to recognize the target .The on-line estimation algorithm for Image Jacobian matrix model is designed based on the Kalman filter. With this image Jacobian on-line estimator, the visual feedback controller is designed for the tasks of tracking target by un-calibrated vision sensor. The efficiency of un-calibrated vision servo control algorithm has been verified by experiments on Hebut-II mobile robot.
Keywords :
Jacobian matrices; Kalman filters; estimation theory; feedback; image colour analysis; image matching; image sensors; manipulator dynamics; mobile robots; robot vision; target tracking; visual servoing; Hebut-II mobile robot; Kalman filter; color histogram distance calculation method; dynamic target tracking technology research; image Jacobian matrix model; mobile manipulator; on-line estimation algorithm; shape matching method; un-calibrated vision servo control algorithm; visual feedback controller; Adaptive control; Algorithm design and analysis; Histograms; Image recognition; Jacobian matrices; Manipulator dynamics; Servosystems; Shape; Target recognition; Target tracking; Kalman filter; Target recognition; Un-calibrate;
Conference_Titel :
Electronic Computer Technology, 2009 International Conference on
Conference_Location :
Macau
Print_ISBN :
978-0-7695-3559-3
DOI :
10.1109/ICECT.2009.62
