视觉导航下基于H2/H∞的航迹跟踪

doi:10.13700/j.bh.1001-5965.2015.0370

北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (6): 1279-1285.doi: 10.13700/j.bh.1001-5965.2015.0370

视觉导航下基于H₂/H_∞的航迹跟踪

吴成良¹, 曹云峰², 庄丽葵², 谢也¹, 丁萌³

1. 南京航空航天大学自动化学院, 南京 210000;
2. 南京航空航天大学航天学院, 南京 210000;
3. 南京航空航天大学民航学院, 南京 21000

收稿日期:2015-06-05 出版日期:2016-06-20 发布日期:2016-07-06
通讯作者: 曹云峰,Tel.:025-84890902 E-mail:cyfac@nuaa.edu.cn E-mail:cyfac@nuaa.edu.cn
作者简介:吴成良男,硕士研究生。主要研究方向:导航制导与控制。Tel.:15077876686 E-mail:wcl1991@nuaa.edu.cn;曹云峰男,硕士,教授,博士生导师。主要研究方向:导航制导与控制、计算机视觉。Tel.:025-84890902 E-mail:cyfac@nuaa.edu.cn;庄丽葵女,硕士,副教授。主要研究方向:导航制导与控制。Tel.:025-84890902 E-mail:lkzhuang@nuaa.edu.cn

Path tracking for visual navigation based on H₂/H_∞

WU Chengliang¹, CAO Yunfeng², ZHUANG Likui², XIE Ye¹, DING Meng³

1. Institute of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China;
2. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China;
3. College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China

Received:2015-06-05 Online:2016-06-20 Published:2016-07-06

摘要/Abstract

摘要： 为了从理论上研究视觉导航系统的特性,首先在物理上将视觉导航系统划分为传感器(摄像头、激光测距仪)和视觉处理计算机。针对视觉处理计算机,建立视觉位置测量模型。将视觉位置测量模型的不确定性分为参数不确定性和输入干扰2种。然后通过仿真详细分析了视觉位置估计针对不同模型不确定性的敏感程度。最后在引入视觉位置测量模型不确定性的基础上研究H₂/H_∞混合鲁棒控制在航迹跟踪上的应用,并给出了保证航迹控制系统稳定性和跟踪性能情况下的视觉位置测量模型摄动范围,对计算机视觉算法的研究具有一定的指导意义。

关键词: 视觉导航, 视觉测量模型, 模型不确定性, H₂/H_∞混合控制, 鲁棒性能

Abstract: Visual navigation system was physically divided into sensors (camera and laser rangefinder) and computer vision processing, so as to study the characteristics of visual navigation system theoretically. And then visual measurement model was established, which was based on the above computer vision processing. The uncertainties of visual position measurement model were divided into parameter uncertainties and input interference. The sensitivity degrees triggered by different kinds of model uncertainties in visual position estimation were analyzed in detail by simulation. Finally, based on the introduction of visual measurement model uncertainty, visual measurement model perturbation ranges, under the constraint conditions of both track control system stability and tracking performance, were given in the study of the H₂/H_∞ hybrid robust control application to trajectory tracking, which is of certain guiding significance to computer vision algorithm.

Key words: visual navigation, visual measurement model, model uncertainty, H₂/H_∞ hybrid control, robust performance

中图分类号:

TP391.9

吴成良, 曹云峰, 庄丽葵, 谢也, 丁萌. 视觉导航下基于H₂/H_∞的航迹跟踪[J]. 北京航空航天大学学报, 2016, 42(6): 1279-1285.

WU Chengliang, CAO Yunfeng, ZHUANG Likui, XIE Ye, DING Meng. Path tracking for visual navigation based on H₂/H_∞[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2016, 42(6): 1279-1285.

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视觉导航下基于H₂/H_∞的航迹跟踪

Path tracking for visual navigation based on H₂/H_∞

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