SUMMARYThis paper proposes a novel laser beam tracking mechanism for a mobile target robot that is used in shooting ranges. Compared with other traditional tracking mechanisms and modules, the proposed laser beam tracking mechanism is more flexible and low cost in use. The mechanical design and the working principle of the tracking module are illustrated, and the complete control system of the mobile target robot is introduced in detail. The tracking control includes two main steps: localizing the mobile target robot with regards to the position of the laser beam and tracking the laser beam by the linear quadratic regulator (LQR). First of all, the state function of the control system is built for this tracking system; second, the control law is deduced according to the discretized state function; lastly, the stability of the control method is proved by the Lyapunov theory. The experimental results demonstrate that the Hue, Saturation, Value feature-extracting method is robust and is qualified to be used for localization in the laser beam tracking control. It is verified through experiments that the LQR method is of better performance than the conventional Proportional Derivative control in the aspect of converge time, lateral error control, and distance error control.

中文翻译：

---

移动目标机器人基于视觉的激光束跟踪中的线性二次调节器方法

摘要本文提出了一种用于射击场的移动目标机器人的新型激光束跟踪机构。与其他传统的跟踪机制和模块相比，所提出的激光束跟踪机制更灵活，使用成本更低。阐述了跟踪模块的机械设计和工作原理，详细介绍了移动目标机器人的完整控制系统。跟踪控制包括两个主要步骤：根据激光束的位置定位移动目标机器人，并通过线性二次调节器（LQR）跟踪激光束。首先，为本跟踪系统构建了控制系统的状态函数；其次，根据离散状态函数推导出控制律；最后，Lyapunov理论证明了控制方法的稳定性。实验结果表明，色相、饱和度、值特征提取方法具有鲁棒性，可用于激光光束跟踪控制中的定位。通过实验验证，LQR方法在收敛时间、横向误差控制、距离误差控制等方面均优于传统的比例微分控制。