NDLI: Target tracking by grey prediction theory and look-ahead fuzzy logic control

Content Provider	IEEE Xplore Digital Library
Author	Luo, R.C. Tse Min Chen
Copyright Year	1999
Description	Author affiliation: Intelligent Autom. Lab., Nat. Chung Cheng Univ., Chia-Yi, Taiwan (Luo, R.C.)
Abstract	Target tracking is useful in many robotics applications, such as assembly, autonomous navigation, etc. Conventional position based tracking strategies usually define the dynamics models for either motion control on tracker or position prediction on target, making the system inflexible and difficult to implement. This paper presents a new target tracking strategy, in which the dynamics model parameters are online updated according to the limited observation of the target and tracker relation. The grey theory is used in the position prediction of the target, which predicts the future trend based on the previous sensory measurements. We also use the look-ahead fuzzy logic for motion control of the tracker. Experimental results for tracking different moving targets are accomplished by the "Chung Cheng-1" mobile robot used in our laboratory. The results demonstrate the robustness and flexibility of the system.
Starting Page	1176
Ending Page	1181
File Size	505943
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.772521
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Target tracking Prediction theory Robotic assembly Motion control Navigation Predictive models Position measurement Fuzzy logic Mobile robots Laboratories
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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