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计算机系统应用:2018,27(12):136-142
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融合帧间差分与碰撞算法的快速跟踪预测算法
李凯强, 沈建新
(南京航空航天大学 机电学院, 南京 210016)
Fast Tracking and Prediction Algorithm Based on Inter Frame Difference and Collision Algorithm
LI Kai-Qiang, SHEN Jian-Xin
(College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)
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投稿时间:2018-04-16    修订日期:2018-05-08
中文摘要: 传统的运动目标跟踪预测算法难以保证机器人对高速运动目标的快速捕捉和提前预测,尤其是运动目标在滑行过程中发生碰撞改变了原有的运动方向,针对这一问题提出了基于帧间差分与碰撞算法相结合的运动目标跟踪预测算法.通过帧间差分法快速识别出平面内运动物体的具体位置和运动速度,根据其运动速度方向判别运动目标是否发生碰撞.当运动目标在运动过程中发生碰撞,采用LS-DYNA显示动力分析软件建立碰撞仿真模型,并用MATLAB拟合仿真数据得到碰撞算法,结合碰撞算法对运动目标的运动轨迹进行预测.结果表明以帧间差分和碰撞算法相结合的运动目标检测跟踪算法对于在平面内运动目标的跟踪预测方面速度更快,完全能够满足机器人对算法快速性的要求.
Abstract:The traditional moving target tracking and prediction algorithm is difficult to ensure that the robot can capture and predict the high-speed moving targets in advance. In particular, the collision of moving targets in the course of sliding changes the original motion direction. Aiming at this problem, a moving target tracking prediction algorithm based on frame difference and collision algorithm is proposed. Through the inter frame difference method, the specific position and velocity of the moving object in the plane are identified quickly, and the collision of the moving target is judged according to the direction of motion velocity. When the moving targets collide in the process of motion, the collision simulation model is established by using the LS-DYNA dynamic analysis software, and the collision algorithm is obtained by fitting the simulation data with MATLAB, and the motion trajectory of the moving target is predicted by the collision algorithm. The results show that the moving target detection and tracking algorithm, which combines the inter frame difference and the collision algorithm, is faster for the tracking and prediction of the moving target in the plane, and can fully meet the requirements of the robot's fast algorithm.
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李凯强,沈建新.融合帧间差分与碰撞算法的快速跟踪预测算法.计算机系统应用,2018,27(12):136-142
LI Kai-Qiang,SHEN Jian-Xin.Fast Tracking and Prediction Algorithm Based on Inter Frame Difference and Collision Algorithm.COMPUTER SYSTEMS APPLICATIONS,2018,27(12):136-142

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