摘要
自由飞行空间机器人是当前智能机器人研究中很活跃的领域 ,为了研究机器人在自由飞行状态下的运动控制及姿态规划问题 ,我们设计了地面实验平台。该系统的视觉部分主要完成机器人姿态跟踪及捕获目标的识别定位。为了达到实时跟踪的目的我们采用了基于颜色的识别定位方案。这种方法计算简单 ,快速 ,且易于实现。
The Free Flying Space Robot is one of the active fields in nowadays intelligent robot research.In order to research the movement control and the problems of gesture programming when the robot is in free flying state,we designed the ground experiment platform.The vision part of the system tracks the gestures of the robot and at the same time hunts the target to identify its location.We adopted the location identification method based on color recognition to realize real time tracking.The advantages of this method are easy in calculating,fast and easy to realize.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2001年第5期51-55,共5页
Journal of Astronautics
基金
863资助合同编号 :863 -2 -4
