Intelligent Target Visual Tracking and Control Strategy for Open Frame Underwater Vehicles
| Autor: | Xu Yang, Hai Huang, Guocheng Zhang, Bao Xuan, Chaoyu Sun, Mingwei Sheng, Wan Zhaoliang, Jiyong Li |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Fitness function Computer science business.industry General Mathematics GRASP Frame (networking) Particle swarm optimization 02 engineering and technology Tracking (particle physics) Fuzzy logic Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Eye tracking 020201 artificial intelligence & image processing Computer vision Artificial intelligence business Software |
| Zdroj: | Robotica. 39:1791-1805 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574720001502 |
| Popis: | SUMMARYVisual tracking is an essential building block for target tracking and capture of the underwater vehicles. On the basis of remotely autonomous control architecture, this paper has proposed an improved kernelized correlation filter (KCF) tracker and a novel fuzzy controller. The model is trained to learn an online correlation filter from a plenty of positive and negative training samples. In order to overcome the influence from occlusion, the improved KCF tracker has been designed with an added self-discrimination mechanism based on system confidence uncertainty. The novel fuzzy logic tracking controller can automatically generate and optimize fuzzy rules. Through Q-learning algorithm, the fuzzy rules are acquired through the estimating value of each state action pairs. An S surface based fitness function has been designed for the improvement of learning based particle swarm optimization. Tank and channel experiments have been carried out to verify the proposed tracker and controller through pipe tracking and target grasp on the basis of designed open frame underwater vehicle. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|