基于自适应随动机构的机器人目标跟随

陈宏鑫,张北,王春香,杨明

Robot target following based on adaptive follower mechanism

Hong-xin CHEN,Bei ZHANG,Chun-xiang WANG,Ming YANG

表 1 仿真平台上不同传感器角度规划策略的平均评分对比

Tab.1 Comparison of average scores of different sensor angle planning strategies in simulation platform

规划策略 ${\overline S_{\text{t}}}$ ${\overline S_{\text{p}}}$ ${N_{\text{o}}}$ ${\overline S_{\text{a}}}$ ${\overline T_{\text{f} } }/{\rm{s}}$ ${f_{\text{s}}}$ 固定相机 0.667 0.798 1.004 1.516 85.6 0 目标伺服 0.997 0.834 1.282 1.895 120.1 82.14 底盘方向 0.946 0.861 1.291 1.871 117.2 19.47 权重视野 0.993 0.848 1.331 1.908 141.4 33.55