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神经网络PID控制的机器人视觉反馈跟踪

Visual Feedback Tracking of Robots Based on Neural Network PID
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摘要 探讨针对视觉空间的非完整移动机器人的跟踪控制问题。在不校准摄像机视觉参数的情况下,利用视觉反馈得到的信息,设计出非完整移动机器人轨迹跟踪的神经网络控制器。将BP网络与PID控制相结合,避免复杂的公式推导,解决参数不校准下的控制问题,并很好的实现跟踪。仿真结果证明了文中方法的有效性。 This paper discusses the visual servoing tracking problem of nonholonomic mobile robots. The neutral network control approach is used to design a tracking controller for nonholonomic mobile robots with uncalibrated visual parameters. Combining BP neutral network with PID controller is used to manipulate mobile robots firstly. The complex deduce of common tracking controllers is simplified and tracking control problem with uncalibrated virual parameters is solved. The simulation results show that themethod is effective.
作者 白洁 王朝立 孙玉莎 鲁国辉
机构地区 上海理工大学光电信息与计算机工程学院
出处 《计算机系统应用》 2012年第2期125-129,共5页 Computer Systems & Applications
基金 国家自然科学基金(60874002) 上海市教育委员会重点科技创新项目(09ZZ158) 上海市重点学科项目(S30501)
关键词 移动机器人 跟踪 不校准摄像机视觉参数 BP神经网络 PID控制 视觉反馈 mobile robot tracking uncalibrated visual parameters BP Neutral Network PID controller visualfeedback
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献9

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二级参考文献20

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共引文献15

计算机系统应用
2012年 第2期

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