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Received:June 21, 2011 Revised:July 29, 2011
Received:June 21, 2011 Revised:July 29, 2011
中文摘要: 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。
Abstract: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 the method is effective.
keywords: mobile robot tracking uncalibrated visual parameters BP Neutral Network PID controller visual feedback
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基金项目: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)
引用文本：
白洁,王朝立,孙玉莎,鲁国辉.神经网络PID 控制的机器人视觉反馈跟踪.计算机系统应用,2012,21(2):125-129
BAI Jie,WANG Chao Li,SUN Yu-Sha,LU Guo-Hui.Visual Feedback Tracking of Robots Based on Neural Network PID.COMPUTER SYSTEMS APPLICATIONS,2012,21(2):125-129
白洁,王朝立,孙玉莎,鲁国辉.神经网络PID 控制的机器人视觉反馈跟踪.计算机系统应用,2012,21(2):125-129
BAI Jie,WANG Chao Li,SUN Yu-Sha,LU Guo-Hui.Visual Feedback Tracking of Robots Based on Neural Network PID.COMPUTER SYSTEMS APPLICATIONS,2012,21(2):125-129
