A prey-predator model for efficient robot tracking

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	A prey-predator model for efficient robot tracking
	Tang FZ(唐凤珍); Ji DX(冀大雄); Si BL(斯白露)
	2017
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
页码	3568-3574
通讯作者	Tang FZ(唐凤珍)
中文摘要	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.
收录类别	EI
产权排序	1
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
语种	英语
ISSN号	1050-4729
ISBN号	978-1-5090-4633-1
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20861]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.Institute of Marine Robot, Ocean College, Zhejiang University, Zhoushan, Zhejiang, 316021, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Nanta Street 114, Shenyang, 110016, China
推荐引用方式 GB/T 7714	Tang FZ,Ji DX,Si BL. A prey-predator model for efficient robot tracking[C]. 见:2017 IEEE International Conference on Robotics and Automation, ICRA 2017. Singapore, Singapore. May 29 - June 3, 2017.