Research and design of mobile robot moving object tracking system on hierarchical control

A intelligent control model structure of double-level-three-stage is presented to deal with the moving robot detecting and tracking system. According to basic ideas of imitation of human intelligence control, it includes Decision-making level and Execution level, each level is decomposed into 3 stages. In the process of tracking, the moving objects state forecast and two-step increment tracking algorithm based on Kalman filter are adopted to drive the mobile robot quickly and smoothly. The robot system to detect and track moving objects with the model structure is designed and its application in automobile stake is illustrated.