摘要
提出一种基于视觉的农业机械手抓取方法,通过坐标系的建立和变换,确定前方物体位置,采用搜索树算法,建立了路径代价函数,并对算法进行了改进,对于抓取的难易程度分别设定加权因子,选择产生的采样点代价最小的路径抓取物体,最后通过实验达到了预期的结果。
This paper presents a vision based agricultural machinery hand grasping method,through the establishment of coordinate system and transformation,to determine the front position of object,using a search tree algorithm,path cost function is established,and the algorithm is improved,to capture difficulty level set weighted factor,choose the sampling point with minimum cost path to grasp objects,finally achieves the desired results.
出处
《中国农机化学报》
北大核心
2013年第1期221-223,共3页
Journal of Chinese Agricultural Mechanization
关键词
视觉
算法
农业机械手
visual
algorithm
agricultural robot manipulator
