| 基于粒子滤波的仿人机器人跟踪算法研究 |
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| 引用本文： | 程立英.基于粒子滤波的仿人机器人跟踪算法研究[J].科学技术与工程,2013,13(9):2523-2526. |
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| 作者姓名： | 程立英 |
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| 作者单位： | 东北大学信息科学与工程学院；沈阳师范大学物理科学与技术学院； |
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| 基金项目： | 国家自然科学基金项目（面上项目，重点项目，重大项目） |
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| 摘 要： | 针对RoboCup标准组仿人足球机器人NAO的特点,在研究传统粒子滤波跟踪算法基础上,提出基于颜色特征和改进的粒子滤波相结合的机器人跟踪算法。改进的粒子滤波算法在传统采样重要性重采样(SIR)算法重采样过程中有选择地增加一组随机粒子,解决了传统采样重要性重采样(SIR)算法因被跟踪运动目标运动不规则而出现跟丢的问题。实验结果表明,该算法增强了基于SIR的粒子滤波跟踪算法的适应性和有效性。
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| 关 键 词： | 仿人机器人 粒子滤波 机器人跟踪 |
| 收稿时间： | 2012/10/30 0:00:00 |
| 修稿时间： | 12/4/2012 1:21:47 PM |
Study of Humanoid Robot Tracking Based on Particle Filter |
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| Cheng Liying.Study of Humanoid Robot Tracking Based on Particle Filter[J].Science Technology and Engineering,2013,13(9):2523-2526. |
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| Authors: | Cheng Liying |
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| Institution: | 1 (College of Information Science and Engineering,Northeasten University1,Shenyang 110004,P.R.China; College of Physics Science and Technology,Shenyang Normal University2,Shenyang 110034,P.R.China; Neusoft Research,Neusoft Corporation3,Shenyang 110179,P.R.China) |
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| Abstract: | Aiming at the special problems of the humanoid robot NAO in RoboCup environment, based on the research of general Particle Filter(PF) tracking algorithm, this paper presents a new robot tracking algorithm combined improved PF with color character. The improved PF tracking algorithm selectively increases a group of stochastic particles during the Sampling Importance Resampling(SIR) process based on traditional PF algorithm, and the improved algorithm can track the robot which movement is irregular. Finally, the experiments show the presented algorithm is efficient and robust. |
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| Keywords: | Humanoid robot Particle Filter Robot Tracking |
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