摘要
受到水下机器人工作环境的影响,曾经提出的水下机器人定位方法大多无法获取很高的定位精度,为了改善这种状况,提出基于激光三角法的水下机器人定位方法。所提方法采用激光三角法的斜向入射定位原理给出水下机器人定位距离,并对激光发生设备和视觉传感器的最低配置要求进行了介绍,同时给出了定位距离的标定方法,设计了水下障碍物的定位光路,以排除障碍物定位距离对水下机器人定位距离的干扰。实验结果表明,所提方法给出的定位距离可靠性强,定位标定畸变率低。
The underwater robot was affected by the working environment,most of its localization methods were unable to reach high precision. In order to improve this situation,this paper put forward underwater robot positioning method based on laser triangulation. The oblique incident positioning principle was used to obtain the distance of underwater robot. The minimum configuration of laser devices and vision sensor were introduced. And gave out the calibration method of positioning,designed the optical path of the barriers underwater to eliminate the obstacles. The experimental results show that this method has high reliability and low aberration rate.
出处
《激光杂志》
北大核心
2017年第8期52-55,共4页
Laser Journal
基金
河南省科技攻关计划项目(142102210645)
河南省基础与前沿技术研究计划项目(152300410134)
周口师范学院校本项目(zknu B2201605)
周口师范学院教育教学改革研究项目(J2016054)
关键词
水下机器人
激光三角法
斜向入射定位
标定
障碍物
underwater robot
laser triangulation
oblique incidence
calibration
obstacle
