一種實(shí)現(xiàn)目標(biāo)識別與跟蹤的輪式移動機(jī)器人設(shè)計(jì)及實(shí)驗(yàn).pdf

1、西安電子科技大學(xué)碩士學(xué)位論文一種實(shí)現(xiàn)目標(biāo)識別與跟蹤的輪式移動機(jī)器人設(shè)計(jì)及實(shí)驗(yàn)姓名：蓋萌萌申請學(xué)位級別：碩士專業(yè)：精密儀器及機(jī)械指導(dǎo)教師：李團(tuán)結(jié)20090101AbstractAw：heeledmobileintelligentrobote)幣erimentplatformisdesignedinmisthesis，baSedonWhichadeepandsystematicstudyhasbeendoneaboutpersonrecog

2、nitionandtrackingandobstacleavoidanceFirstofall，2Lllthedesi盟schemesofthewlleeledmobilerobotpl利’o鋤aregiven，includesmech越calStruCture，hardwarecircuitandcontrolsoRware，etCIndesignof也eplatfom，po、versystem，仃ansmissionsystem，m

3、aterialsselection，chassisdesign趿ds協(xié)】ctureillmechallic越stmcturescheme。tOtalstnJcture，wirelesscommunicationcircuit，motorcontrolcircuit，dataacquisitioncircuitaIldGPRScontrolcircuitinhardwalecircuitschemeandsoRwalestmcture，o

4、bstacleavoidanceprocessandinfomlationacquisitionprocessincontrolso龜vareschemearegivenseparatelySecondlv’anapproachusedtoreco辨izepersonisproposedSeveraImethodsarepresentedofthemobilerobotpla響rrn，includesvideoacquisitionaI

5、ldpre—treatment，personrecognitionbasedonfeature，afastandpracticalmethodt0removeobjectshadow，etcAndmegivenrecognitionresllltsillustrate也attheproposedapproachforpersonrecognitionissatisfiedwiththerequestofwheeledmobilerobo

6、tplatfoHninordert◇訂ackpersonAtlaSt，t11eapproachusingvisioninfomationandultraSonicinfomlation，simulationandexperimemsformobilerobotplatfomlto仃坨kpersonandthemethodcombiningperson眈ckingandobstacleaVoidaIlcestrategyaregiVens

7、eparatelyThroughintroducingclosed100pfeedbackmeo巧ofcon乜01theory缸o(hù)theprocessofobjecttracking，anovelalgorithmisproposed，whichisnamedamuhilayersub—PIDcontr01algorithmSimulation2uldexperimentsresultsillustratet11atthe向nction