Model predictive control to improve visual control of motion: applications in active tracking of moving targets

Author

Barreto, João P. ; Batista, Jorge ; Araújo, Helder

Author_Institution

Inst. of Syst. & Robotics, Coimbra Univ., Portugal

Volume

4

fYear

2000

fDate

2000

Firstpage

732

Abstract

Deals with active tracking of 3D moving targets. Visual tracking is presented as a regulation control problem. The performance and robustness in visual control of motion depends both on the vision algorithms and the control structure. Delays and system latencies substantially affect the performance of visually guided systems. We discuss ways to cope with delays while improving system performance. Model predictive control strategies are proposed to compensate for the mechanical latency in visual control of motion

Keywords

Kalman filters; active vision; delays; motion control; parameter estimation; predictive control; robust control; target tracking; 3D moving targets; active tracking; mechanical latency; model predictive control; regulation control problem; visual control; visual tracking; visually guided systems; Cameras; Delay; Motion control; Optical feedback; Optical filters; Predictive control; Predictive models; Servomechanisms; Servosystems; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Pattern Recognition, 2000. Proceedings. 15th International Conference on

Conference_Location

Barcelona

ISSN

1051-4651

Print_ISBN

0-7695-0750-6

Type

conf

DOI

10.1109/ICPR.2000.903021

Filename

903021