基于摄像头的群体机器人的控制算法研究

Research on Swarm-Robots Control Algorithm Based on Cameras

在第一代自组装模块化群体机器人Sambot的设计基础上,采用激光定位和摄像头模块进行信息采集,重新设计出了新一代自组装模块化群体机器人SambotⅡ。详细叙述了SambotⅡ机器人的视觉控制算法,通过相关的摄像头和激光实验验证了该算法的可行性。最后设计了两个SambotⅡ机器人的自主对接实验,展示了实验结果并对结果进行了分析,证明了SambotⅡ机器人整体方案的可行性。

On the basis of the first generation of self-assembly modular swarm robot Sambot,adopting laser positioning and camera module for information collecting,the new generation of self-assembly modular swarm robot Sambot Ⅱ has been designed in this manuscript.The visual control algorithm of Sambot Ⅱ was described in details and was verified to be feasible via the related camera and laser experiments.In the end of this anuscript,autonomous docking experiments of two Sambot Ⅱ was presented,of which the experimental results has been demonstrated and analyzed.Hence the entire scheme of Sambot Ⅱrobot has been verified to be feasible.