工程设计学报2023，Vol.30Issue(6)：687-696,10.DOI:10.3785/j.issn.1006-754X.2023.03.178
基于视觉跟踪与自主导航的移动机器人目标跟随系统
Mobile robot target following system based on visual tracking and autonomous navigation
摘要
Abstract
In response to the issue of target disappearing when a mobile robot is following a target,a robot target following system based on visual tracking and autonomous navigation is proposed.The robot following problem was divided into two cases:regular following when the target was within the robot's field of view,and autonomous navigation after the target disappeared.For the former case,the target's motion state was predicted using a Kalman filter,appearance features were extracted using a pedestrian re-identification network,and target tracking was performed by fusing motion information and appearance features using data association fusion.Servo control was then applied for following the target.For the latter case,an autonomous navigation algorithm was adopted based on the relative position between the historical target and the robot.The robot moved to the history position of the target and searched the target,aiming to increase the success rate of the target following.Evaluations were conducted on the OTB100 benchmark dataset and a target following test dataset which was in robot application scenarios.Experiments were performed on a mobile robot platform.The results showed that the robot could follow the target in the environment with different lighting conditions and more background pedestrians,which verified the robustness and effectiveness of the proposed algorithm,and it could meet the real-time requirement.The research results can provide reference for research on the problem of robot refollowing after the target disappears.关键词
移动机器人/目标跟踪/自主导航/卡尔曼滤波Key words
mobile robot/target tracking/autonomous navigation/Kalman filtering分类
信息技术与安全科学引用本文复制引用
张瑞,蒋婉玥..基于视觉跟踪与自主导航的移动机器人目标跟随系统[J].工程设计学报,2023,30(6):687-696,10.基金项目
国家重点研发计划资助项目(2020YFB1313600) （2020YFB1313600）
