移动机器人视觉导航控制研究

Research on Control Strategy of Mobile Robot Navigation Based on Vision

该文研究了移动机器人视觉导航的控制问题。针对导航中的图像畸变以及视野有限易造成导航线丢失等问题,提出了一种简单的单目视觉目标定位算法和一种新的控制策略。在导航时,首先利用定位算法精确地获取地面目标的深度信息,然后控制机器人沿一系列切线方向平滑接近导航线(或目标),并根据实施控制的时间间隔控制速度,以保证机器人视野中导航线(或目标)不丢失。实际的应用证明了该定位算法和策略的有效性。

The Vision-based navigation problem of mobile robot is investigated in this paper.A monocular target-localization algorithm and a control strategy are proposed for image distortion and loss of trajectory caused by the slope of camera,wide-angle lens and limited view.Using the proposed algorithm,depth information of targets on the ground can be required accurately for visual navigation and location of robot.The control strategy makes robot approach trajectory along the tangent direction,and guarantees against the loss of trajectory in view of robot by calculating velocity according to time interval of control.Experimental results demonstrate the validity of the algorithm and strategy.