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Linear Quadratic Regulator Method in Vision-Based Laser Beam Tracking for a Mobile Target Robot

Published online by Cambridge University Press:  03 July 2020

Yun Ling Open the ORCID record for Yun Ling [Opens in a new window] ,
Jian Wu ,
Weiping Zhou ,
Yubiao Wang  and
Changcheng Wu
Yun Ling*
Affiliation:
Nanjing Research Institute of Simulation Technology, Department of Research Center, Nanjing, Jiangsu
Jian Wu
Affiliation:
Nanjing Research Institute of Simulation Technology, Department of Research Center, Nanjing, Jiangsu
Weiping Zhou
Affiliation:
Nanjing Research Institute of Simulation Technology, Department of Combat Training, Nanjing, Jiangsu
Yubiao Wang
Affiliation:
Nanjing Research Institute of Simulation Technology, Department of Research Center, Nanjing, Jiangsu
Changcheng Wu
Affiliation:
Nanjing University of Aeronautics and Astronautics, College of Automation Engineering, Nanjing, Jiangsu
*
*Corresponding author. E-mail: lingrobot@seu.edu.cn
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Summary

This 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.

Keywords

Laser beamPath trackingIndoor localizationLQRTarget robot
Type
Articles
Information
Robotica , Volume 39 , Issue 3 , March 2021 , pp. 524 - 534
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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