配置机械手的轮式移动机器人目标物体跟踪与抓取

Target Object Tracking and Grasping of Wheeled Mobile Robot Equipped with the Manipulator

针对配置机械手的室内轮式移动机器人目标物体识别、跟踪和抓取问题,采用一种目标物体识别和机器人定位的方法,利用一种基于模糊控制的轮式移动机器人视觉伺服跟踪控制的方法。针对机器人目标识别跟踪及抓取过程中受环境条件变化的影响,采用HSI颜色模型和基于阈值的区域分割的图像处理方法可以完成目标颜色物体的快速准确识别。基于云台摄像机角度信息的机器人小车目标定位方法和模糊控制理论,设计了模糊跟踪控制器,使机器人输出合适的线速度和角速度,能够实现机器人目标跟踪,使移动机器人趋近目标物体位置,并完成机械手目标物体抓取任务。仿真和实时实验结果表明:所设计的系统具有良好的目标物体识别、跟踪和准确抓取目标的能力。

For the problem of target object recognition,tracking and grabbing of wheeled mobile robot equipped with the manipulator,this paper adopted a object recognition and robot localization method,also used a wheeled mobile robot visual servo tracking control method based on fuzzy control.For the process of robot target tracking and grabbing,which is influenced by environmental change,the image processing method of HSI color model and the threshold-based segmentation are used so that the robot can rapidly recognize the target color object.According to the robot target positioning method based on the PTZ camera′s angle information and fuzzy control theory,a fuzzy controller is designed to output the appropriate line speed and angle velocity,and realize the robot tracking target.At the same time the robot moves closely to the target object and grabs it.Simulation and real-time experimental results show that the designed system has a good ability to recognize,track and grab the target object accurately.