关键词: 交互式多模型算法, 卡尔曼滤波, 机动目标跟踪, 视觉伺服机器人

Abstract: The Interacting Multiple Model（IMM） algorithm is used to solve the maneuvering targets tracking problem for visual servoing robot.This paper uses Constant Velocity（CV） model and Constant Acceleration（CA） model to match the target’s two motion states，uses Markov chains to change the models，and gives the predicted value of the target’s motion state based on the former motion state and the current observation.The Monte Carlo simulation is carried out using Matlab software，which is based on IMM algorithm and Kalman Filter algorithm，the results show that the IMM algorithm can track the target more accurately than the Kalman Filter，no matter the target is at the uniform motion state or the maneuvering motion state.These prove that the IMM algorithm can improve the tracking precision of maneuvering target.

Key words: Interacting Multiple Model（IMM） algorithm, Kalman filter, maneuvering targets tracking, visual servoing robots