室内环境学前儿童陪伴机器人人体目标动态跟踪方法

Dynamic tracking method of human target of preschool children accompanying robot in indoor environment

为解决室内环境学前儿童陪伴机器人动态追踪失衡和失稳问题,提出室内环境学前儿童陪伴机器人人体目标动态跟踪方法。构建室内环境学前儿童陪伴机器人人体目标动态跟踪模型,利用视觉传感信息采集和融合处理方法控制约束参数,实现模型初步框架构建。利用离散化的空间规划方法,生成反演闭环控制系统,构建人体目标动态跟踪参数调节模型。结合动态跟踪输出控制,实现陪伴机器人人体目标动态跟踪优化。经实验证明,设计方法的人体目标动态跟踪的误差小,动态跟踪精确度高,具有一定应用价值。

In order to solve the problem of dynamic tracking unbalance and instability of children's accompanying robot in indoor environment,a dynamic tracking method of human body was proposed.A dynamic tracking model of human body in indoor environment is constructed,and the constraint parameters are controlled by visual sensing information collection and fusion method.Using the discrete spatial planning method,the inversion closed-loop control system is generated,and the human body dynamic tracking parameter adjustment model is constructed.Combined with the output control of dynamic tracking,the optimization of human tracking is realized.The experimental results show that the dynamic tracking error of the designed method is small and the dynamic tracking accuracy is high,so it has certain application value.