视觉仿生控制研究综述

Survey of Visual Control Bionics

借鉴生物头眼协调运动灵活改变视线的神经控制机理构建智能仿生眼是机器人视觉控制研究的新热点。本综述分析了灵长类动物眼球运动的特点及其利用价值,从视觉仿生控制的视角,对国内外仿生机器眼的研究现状、存在的问题和发展趋势做了概括和总结。就利用生理学、仿生学和控制理论等多学科交叉融合的方法开展研究,针对多自由度双目头颈运动建模、机器人3D头眼协调运动控制、视觉偏差补偿算法以及视觉跟踪模式自适应切换策略等视觉控制难题,进行了讨论和展望。

Developing intelligent biomimetic eye is a new hot issue in the domain of robot visual control, which is based on neurophysiological mechanism of biological coordinated head-eye movement during gaze shift. In this work, oculomotor characteristics of primates and its utility values were reviewed, and next, the worldwide research status and development direction of biomimetic eye from the view of visual control were summarized. Some new bionic ideas and policies were given as well, such as making use of physiology, bionics, control theory and interdisciplinary study to explore multi-degree-of-freedom binocular biomimetic eye model, 3D headeye coordinated control method, robot visual error compensation algorithms and adaptive patterns switching strategy of robot visual tracking.