• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권3호
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• pp.908-928
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• 2022

Multiple target tracking mainly focuses on tracking unknown number of targets in the complex environment of clutter and missed detection. The generalized labeled multi-Bernoulli (GLMB) filter has been shown to be an effective approach and attracted extensive attention. However, in the scenarios where the clutter rate is high or measurement-outliers often occur, the performance of the GLMB filter will significantly decline due to the Gaussian-based likelihood function is sensitive to clutter. To solve this problem, this paper presents a robust GLMB filter and smoother to improve the tracking performance in the scenarios with high clutter rate, low detection probability, and measurement-outliers. Firstly, a Student-T distribution variational Bayesian (TDVB) filtering technology is employed to update targets' states. Then, The likelihood weight in the tracking process is deduced again. Finally, a trajectory smoothing method is proposed to improve the integrative tracking performance. The proposed method are compared with recent multiple target tracking filters, and the simulation results show that the proposed method can effectively improve tracking accuracy in the scenarios with high clutter rate, low detection rate and measurement-outliers. Code is published on GitHub.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권1호
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• pp.22-30
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• 2003

A Coordinate-Transformation Extended Robust Kalman Filter (CERKF) designed in the Krein space is proposed, and then applied to a nonlinear incoming ballistic missile tracking system with parameter uncertainties. First, the Extended Robust Kalman filter (ERKF) is proposed to handle the nonlinearity of measurement equation which occurs whenever the polar coordinate system is transformed into the Cartesian coordinate system. Moreover, linearization error inevitably occurs and deteriorates the tracking performance, which is considerably reduced by the proposed CERKF. Through the simulation results, we show that the proposed CERKF, which uses the measurement coordinate system, has less RMS error than the previous ERKF which is designed in the Krein space using the Cartesian system. We also verify that the robustness and the stability of the proposed filter are guaranteed in two radars: the phased way radar and the scanning radar

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.660-662
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• 2000

The most important problem in traget tracking can be said to be modeling the tracking system correctly. Although the simple linear dynamic equation for this model has used until now, the satisfactory performance could not be obtained owing to uncertainties of the real systems in the case of designing the filters based on the dynamic equations. In this paper, we propose the extended robust Kalman filter(ERKF) which can be applied to the real target tracking system with the parameter uncertainties. To solve the robust nonlinear fettering problem, we derive the extended robust Kalman filter equation using the Krein space approach and sum quadratic constraint. We show the proposed filter has better performance than the existing extended Kalman filter(EKF) via 3-dimensional target example.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2015년도 제46회 하계학술대회
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• pp.1337-1338
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• 2015

In this paper, a new control technique using WIPDC(Weighted Integral Parallel Distributed Compensation) and ISMC(Integral Sliding Mode Control) is proposed for high performance and robust trajectory tracking control of a wheeled mobile robot. The WIPDC reduces the steady-state error by adding a weighted integral controller to the PDC. So, the trajectory tracking control using the WIPDC can obtain more accurate control performance than the PDC. And the ISMC based control input gives the mobile robot to preserve the system dynamics controlled by the WIPDC control input in spite of external disturbances. Therefore, the proposed control method shows a robust and precise trajectory tracking performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.798-802
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• 2003

The robustness and reliability of vision algorithms is the key issue in robotic research and industrial applications. In this paper, the robust real time visual tracking in complex scene is considered. A common approach to increase robustness of a tracking system is to use different models (CAD model etc.) known a priori. Also fusion of multiple features facilitates robust detection and tracking of objects in scenes of realistic complexity. Because voting is a very simple or no model is needed for fusion, voting-based fusion of cues is applied. The approach for this algorithm is tested in a 3D Cartesian robot which tracks a toy vehicle moving along 3D rail, and the Kalman filter is used to estimate the motion parameters, namely the system state vector of moving object with unknown dynamics. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.22-29
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• 2004

This paper studies the coordinated trajectory control of an excavator as a kind of robotic manipulators driven by hydraulic actuators. Hydraulic robot system has many non-linearity in dynamics and kinematics, and strong coupling among joints(or hydraulic cylinders). This paper proposes a combined controller frame of the adaptive robust control(ARC) and the sliding mode control(SMC) for the trajectory tracking control of the excavator to preserve the advantages of the both methods while overcoming their drawbacks, namely, asymptotic stability of adaptive system for parametric uncertainties and guaranteed transient performance of sliding mode control for both parametric uncertainties and external disturbance. The suggested control technique is applied for the tracking of a straight-line motion of end-effector of manipulators, and through computer simulations, its trajectory tracking performances and the robustness to payload variation and uncertainties are illustrated.

• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.673-679
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• 2012

This paper introduces robust tracking algorithm for fast and erratic moving object. CAMSHIFT algorithm has less computation and efficient performance for object tracking. However, the method fails to track a object if it moves out of search window by fast velocity and/or large movement. The size of the search window in CAMSHIFT algorithm should be selected manually also. To solve these problems, we propose an efficient prediction technique for fast movement of object using Kalman Filter with automatic initial setting and variable configuration technique for search window. The proposed method is compared to the traditional CAMSHIFT algorithm for searching and tracking performance of objects on test image frames.

• International Journal of Automotive Technology
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• 제8권3호
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• pp.351-359
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• 2007

In this study, a hierarchical switching control scheme based on robust control theory is proposed for tracking control of vehicle longitudinal acceleration in the presence of large uncertainties. A model set consisting of four multiplicative-uncertainty models is set up, and its corresponding controller set is designed by the LMI approach, which can ensures the robust performance of the closed loop system under arbitray switching. Based on the model set and the controller set, a switching index function by estimating the system gain of the uncertainties between the plant and the nominal model is designed to determine when and which controller should be switched into the closed loop. After theoretical analyses, experiments have also been carried out to validate the proposed control algorithm. The results show that the control system has good performance of robust stability and tracking ability in the presence of large uncertainties. The response time is smaller than 1.5s and the max tracking error is about $0.05\;m/S^2$ with the step input.

• 전기전자학회논문지
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• 제22권1호
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• pp.110-120
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• 2018

본 논문에서는, 볼-빔 시스템에 입-출력 궤환 선형화 기법을 적용하여 추종 궤적 r(t)를 추종하도록 제어기를 설계하였다. 설계한 제어기로 시뮬레이션 및 실험에 적용한 결과, 실험에서 오차가 크게 발생하였다. 이러한 이유는 외란 및 입력정합조건을 만족하지 못해 발생한 것으로 판단되어 볼-빔 시스템의 기존 모델링에서 적절한 외란을 추가하여, 시뮬레이션을 통해 실험 결과와 비슷한 유효한 모델링임을 입증하였다. 그러나, 여전히 저하된 성능으로 인해 bang-bang 제어기를 추가로 적용하였다. 결과적으로, 시스템의 불확실성에 대해 강인하고 향상된 성능을 시뮬레이션 및 실험결과를 통해 검증하였다.

• 한국정보과학회논문지:소프트웨어및응용
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• 제30권7_8호
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• pp.713-718
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• 2003

조건부 밀도 전파(Condensation)는 강건한 추적 성능과 실시간 구현이 가능하다는 장점을 지닌다. 그러나 정확한 추적을 수행하기 위해서는 복잡한 형태 모델과 많은 수의 샘플을 요구하므로 현실적으로 실시간 다중 추적에 적합하지 않은 경우가 많다. 본 논문에서는 실시간 응용에 적합하도록 작은 탐색 공간을 갖는 이산 형태의 형태 모델과 다중 추적 시각 추적기간의 상호 경쟁 관계를 고려하여 적은 수의 샘플로도 좋은 추적 성능을 보이는 경쟁적 Condensation 알고리즘을 제안한다. 실험 결과, 제안한 경쟁적 추적 알고리즘은 복잡하게 이동하는 여러 군중을 실시간으로 강건하게 추적함을 보인다.