جستجوی مقالات مرتبط با کلیدواژه "تعقیب هدف متحرک" در نشریات گروه "مکانیک"

This paper presents the design and construction of a laboratory model for tracking a moving target object using image processing. The aerial robot is used as a follower and the ground robot is used as a target object. A one-degree-of-freedom robot is used instead of an aerial robot, and a moving mobile robot is used as a ground robot to move at different speeds. The distance error between the ground robot and the aerial robot is calculated using image processing and fed back to the aerial robot controller. The dynamic model is used to design the position controller. PID, PID-fuzzy controllers, and optimal linear integral control are designed using a dynamic model, and simulation is performed in MATLAB software. Using simulation to evaluate the performance of three controllers has been designed. The controller is selected using 4 criteria. The performance of the proposed controller is evaluated by implementing the controller on a laboratory model. The aerial robot controller for real-time tracking of the target object and the object of sight is not out air Robot. The novelty of this paper is the design of an inexpensive laboratory model for the real-time implementation of moving a target object with a moving tracker.

this paper discussed and introduced a new path-planning algorithm, based on improved potential field and Lyapunov guidance vector field. According to the requirements of the unmanned aerial vehicle for tracking and avoidance obstacle mission, a real-time method is proposed by combining the Lyapunov guidance vector field and improved potential flow field, eventually, the proposed method used for coordinated tracking and obstacle avoidance application. The features of this newly introduced algorithm are real-time, fast computing and obstacle avoidance capability which causes the algorithm to perform well in complex environments and applications like coordinated tracking of unmanned aerial vehicles. Improved potential flow field (IPFF) primarily provides avoidance obstacle feature and Lyapunov guidance vector field provides tracking feature for this newly introduced algorithm. To achieve the mission of tracking the target and avoid the obstacle at the same time, the guidance vector field by LGVF is taken as the original vector field of IPFF. The results prove that the new hybrid and combined method are applicable to complex environments and complex application like coordinate tracking of moving target can be used in real-time applications.

In this article, the modified dynamic path-planning algorithm is designed. The problem of overlapped obstacles (e.g., forbidden flight zones) is solved while the pervious dynamic path planning methods could not response to this problem. This modified introduced algorithm can be applied in the complex environment and complicated applications without any limitation on the states of obstacles and targets while the pervious dynamic path planning algorithm stops working when UAVs is inside the target circle. In this article, by considering a virtual obstacle, formation flying path planning is introduced. Numerical simulations are performed to verify the feasibility and ability of this proposed algorithm. This newly proposed algorithm performed for coordinated and group target tracking of multiple UAVs