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视觉导航下基于H2/H的航迹跟踪

吴成良 曹云峰 庄丽葵 谢也 丁萌

吴成良, 曹云峰, 庄丽葵, 等 . 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. doi: 10.13700/j.bh.1001-5965.2015.0370
引用本文: 吴成良, 曹云峰, 庄丽葵, 等 . 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. doi: 10.13700/j.bh.1001-5965.2015.0370
WU Chengliang, CAO Yunfeng, ZHUANG Likui, et al. Path tracking for visual navigation based on H2/H∞[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(6): 1279-1285. doi: 10.13700/j.bh.1001-5965.2015.0370(in Chinese)
Citation: WU Chengliang, CAO Yunfeng, ZHUANG Likui, et al. Path tracking for visual navigation based on H2/H[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(6): 1279-1285. doi: 10.13700/j.bh.1001-5965.2015.0370(in Chinese)

视觉导航下基于H2/H的航迹跟踪

doi: 10.13700/j.bh.1001-5965.2015.0370
详细信息
    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

    通讯作者:

    曹云峰,Tel.:025-84890902 E-mail:cyfac@nuaa.edu.cn

  • 中图分类号: TP391.9

Path tracking for visual navigation based on H2/H

  • 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。

     

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出版历程
  • 收稿日期:  2015-06-05
  • 网络出版日期:  2016-06-20

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