Implementation of a Real-time Target Tracking Behaviour Using Video Sensors
نویسندگان
چکیده
Using software OS, real-time operation is constrained by acquisition and preprocessing tasks of input signals. In this way, this paper presents an implementation of a real time target tracking behaviour, from snapped images of the environment, as an example of how to take advantage of real-time hardware devices as a helpful systems for control architectures. A specific board based on FPGA/DSP processors has been used in order to reach this goal. The system has been thought for a marine and underwater environment and it has been tested using GARBI autonomous underwater vehicle. The implemented behaviours allow the robot to navigate autonomously and follow a diver. Copyright 2001 IFAC
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