Scopus

Integrated Tracking of Moving Targets Using Mobile Robots with Pan/Tilt Stereo Camera Systems

Năm XB 2026 Tạp chí / Hội thảo Advances in Information and Communication Technology: Proceedings of the 4th International Conference, ICTA 2025, Volume 2 Volume 2, pp. 138-147 Đơn vị ICTU DOI / Link https://link.springer.com/chapter/10.1007/978-3-032-18159-6_15 ↗

Tác giả

Van-Chung Le

Tóm tắt

This study addresses the problem of high-precision visual target tracking for an integrated mobile robot system equipped with a pan/tilt stereo camera. The research presents a unified dynamic model that fully couples the differential-drive robot and the two-degree-of-freedom camera orientation mechanism, incorporating both nonholonomic motion constraints and stereo vision-based feedback. An optimal nonlinear control law is designed, combining position, velocity, and integral actions for both platform and camera dynamics, with smooth actuator saturation and anti-windup protection. The control framework is validated through advanced MATLAB-based numerical simulations under a time-varying circular reference trajectory. Simulation results demonstrate that the proposed approach achieves a mean position tracking error of 0.0232 m, a maximum position error of 0.0713 m, and a mean pan error of 0.0114 radians, while maintaining total energy consumption at 0.34 Joules, all well within specified performance thresholds. The tilt actuation remains negligible, confirming the system’s ability to avoid unnecessary movements. These results confirm that the control strategy delivers good, accurate, and energy-efficient performance in challenging dynamic tracking scenarios. The methodology provides a rigorous foundation for future real-world deployment and further extension to more complex multi-target environments.

Tài liệu tham khảo

[1] Vlădăreanu, L., Wang, H., Pandelea, M., Gîrniţă, M., Brezulianu, F., Guo, H.: Hybrid HQ stereo cameras and RPLIDAR sensor system applied to navigation of the autonomous mobile robots. In: Vlădăreanu, L., Jain, L., Hu, B. (eds.) Innovation in Smart Technology and Applications. Signals and Communication Technology, pp. 277–289. Springer, Cham (2024)

[2] Casao, S., Serra-Gomez, A., Murillo, A.C., Nuevo, J., Martínez-Otzeta, J.M., Otaegui, O.: Distributed multi-target tracking and active perception with mobile camera networks. Comput. Vis. Image Underst. 239, 103876 (2023)

[3] Dong, Y., Zha, F., Li, M.: A Practical Multi-camera SLAM System for Large Mobile Robots. In: Proceedings of the 2022 International Conference on Big Data, Artificial Intelligence and Robotics (ICBAR), pp. 180–185 (2022)

[4] Salehi, E., Aghagolzadeh, A., Hosseini, R.: Stereo-RIVO: stereo-robust indirect visual odometry. J. Intell. Robotic Syst. (2024)

[5] Lin, Z., et al.: A joint tracking system: robot is online to access surveillance views. In: Proceedings of the 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1109–1114 (2023)

[6] Ghosh, S., Cavinato, V., Gallego, G.: ES-PTAM: event-based stereo parallel tracking and mapping. arXiv preprint arXiv:2408.15605 (2024)

[7] Sun, H., Zhang, S., Quan, Q.: Multi-feature fusion and memory-based mobile robot target tracking system. IET Cyber-Syst. Robot. 6(4), 528–536 (2024)

[8] Pham, D.T., Le, X.T., La, H.M.: Visual object tracking with adaptive template update and global search augmentation. In: Communications in Computer and Information Science, vol. 1834, pp. 32–44 (2023)

[9] Pratama, A.N., Happyanto, D.C., Hendriawan, A.: Stereo camera multi-perception system for self-driving vehicles. In: 2023 6th International Conference on Computer and Communication Systems (ICCCS), pp. 229–234 (2023)

[10] E, J., Han, F., He, L., Gao, B., Yan, H., Li, Y.: WiseCam: a systematic approach to intelligent pan-tilt cameras for moving object tracking. IEEE Trans. Mobile Comput. (2024)

[11] Xu, Y., Zhang, T., Yang, D.: Application of vision technology in automatic tracking of robot. In: Proceedings of the 2022 International Conference on Artificial Intelligence and Computer Engineering (ICAICE), pp. 582–587 (2022)

[12] Nursultan, M., Dauletiya, D.: Development of a real-time object tracking system using computer vision and pan-tilt control. In: Proceedings of the 2023 IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA), pp. 207–211 (2023)

[13] Ismail, A.F., Vishnyakov, S., Zedan, M.J.M.: Design a hybrid neural network tracking system using multiple cameras. In: Proceedings of the 2024 International Conference on Pattern Recognition and Artificial Intelligence (PRAI), pp. 289–294 (2024)

[14] Ma, Z., et al.: Omnibot: a scalable vision-based robot swarm platform. In: 2024 IEEE International Conference on Control & Automation (ICCA), pp. 819–824 (2024)

[15] Xu, M., Liu, D., Xiao, Y., Yu, Y., Liu, Z.: Visual object tracking method for mobile robots based on DSST. In: 2023 IEEE International Symposium on Robotic Intelligence in Informationally Structured Space (ISRIS), pp. 224–229 (2023)

[16] Azimi, M., Gharekhani, A., Ebadollahi, S.: An integration of a neural-network-based computer vision model and a 2-DOF object tracker robot. In: Proceedings of the 2023 11th RSI International Conference on Robotics and Mechatronics (ICRoM), pp. 164–169 (2023)

Ghi chú

Source ID: 262; Author classification: ICTU - Main Author; First listed author: Van-Chung Le, ; Contact author: hanh-Tung Nguyen; Total authors: 4; Springer matched from provided ICTA 2025 volumes
← Quay lại danh sách bài báo