基于活动单眼定位的移动机器人物体收集

探讨了移动机器人基于活动单眼的定位算法,并以该算法获得的视觉信息进行自主式移动机器人物体收集的实验。对目标的获取、在物理坐标系中的定位和延时补偿以及控制方法等问题进行了讨论,并给出结果。从定位结果的分析来看,定位精度可以满足移动机器人控制的需要,介绍了机器人进行物体收集的控制策略。实验表明,基于该定位算法的物体收集策略可以较好地完成任务,并具有良好的鲁棒性。

Mobile Robot Objects Collecting Based on Localization by Pan/Tilted Single Camera

This paper analyzed mainly the localization algorithm based on pan/tilted single camera of mobile robot. An experiment of autonomous mobile robot objects collecting was accomplished which uses the algorithm to track objects. The paper discussed how to extract the object, locating in physical coordinates, time delay compensation and control method and gave the result in detail. By analysis of the localization result, the precision of localization can satisfy demands of mobile robot control. And the control strategy for the objects collecting was introduced. The experiment shows that the strategy can accomplish task well and has a good robustness.