中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名:
A prey-predator model for efficient robot tracking
作者: Tang FZ(唐凤珍); Si BL(斯白露); Ji DX(冀大雄)
作者部门: 机器人学研究室
通讯作者: 唐凤珍
会议名称: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
会议日期: May 29 - June 3, 2017
会议地点: Singapore, Singapore
会议录: Proceedings - IEEE International Conference on Robotics and Automation
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2017
页码: 3568-3574
收录类别: EI
ISSN号: 1050-4729
ISBN号: 978-1-5090-4633-1
摘要: Tracking is a common topic in various areas of robotics research. Motivated by the hunting behavior of predators in nature, we propose a prey-predator model for efficient robot tracking. The head direction and speed of the pursuer is automatically adjusted according to the position and velocity of the prey. Under the situation with perception uncertainty, where the actual location of the prey is not observable, the pursuer predicts the location of the prey according to simple inference, an online adaptive autoregressive model, or an online adaptive echo state network. Simulation results demonstrate that the proposed prey-predator model is able to control the pursuer and to track the prey efficiently, even under perception uncertainty. Simple inference gives better results when the motion of the target is piecewise linear, while echo state network is more suitable when the dynamics of the target are more complex. The proposed prey-predator model thus provides an efficient method tracking targets with various statistical nature of trajectories for applications such as underwater robot tracking, human tracking and team formation.
语种: 英语
产权排序: 1
EI收录号: 20173504081672
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/20861
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
A prey-predator model for efficient robot tracking.pdf(1567KB)会议论文--开放获取View Download

Recommended Citation:
Tang FZ,Si BL,Ji DX. A prey-predator model for efficient robot tracking[C]. 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. Singapore, Singapore. May 29 - June 3, 2017.A prey-predator model for efficient robot tracking.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Tang FZ(唐凤珍)]'s Articles
[Si BL(斯白露)]'s Articles
[Ji DX(冀大雄)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Tang FZ(唐凤珍)]‘s Articles
[Si BL(斯白露)]‘s Articles
[Ji DX(冀大雄)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: A prey-predator model for efficient robot tracking.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2017  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace