Fuzzy Proportional Plus Derivative Control Visual Servo Scheme for Stationary Tracking of Drowning Rescue Robots
To meet stationary tracking requirements of drowning rescue robots,a visual servo drowning rescue scheme based on fuzzy proportional plus derivative control was proposed.Coordinate positions of the robot were obtained through an overhead camera installed on the top of the venue,and a dynamic walking path was designed by using virtual naviga-tion lines.Offset direction and angle were calculated,and turning rules were formulated.A triangular membership func-tion was used to develop fuzzy proportional and derivative control rule tables.Offset angle and distance offset as well as their change rates of the robot were controlled according to proportional and derivative coefficients in the two rule tables to complete tracking and obstacle avoidance smoothness adjustment of the robot.The robot adopted kernel correlation filtering tracking algorithm to track the drowning person,and adjusted motion direction of the robot when position of the drowning person changed.The robot relied on real-time and stable sonar information to set the offset angle and achieved obstacle avoidance function.Experimental verification of the proposed scheme was conducted on Pioneer P3DX robot.The results show that the robot can respond to the change of the target in time without phenomena of mistracking and losing.All roll angles under different working conditions are less than 1 °,and the obstacle avoidance rate reaches 100% .The robot can reach the target position quickly,stably,and accurately,which meets early application requirements of drowning rescue robots.
drowning rescue robotstationary trackingfuzzy proportional plus derivative controlvisual servo
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