基于视觉伺服的巡检机器人返航路径确定方法

Method for Determining Return Path of Inspection Robot Based on Visual Servoing

针对目前方法对机器人返航路径进行确定时,由于未能对巡检机器人的参数进行整定,导致该方法选定的路径存在迭代次数高、与实际轨迹误差大、避障效果差以及搜索路径长度短的问题,提出基于视觉伺服的巡检机器人返航路径确定方法。该方法首先利用视觉伺服控制方法对巡检机器人的速度进行控制,采集速度数据并规整成小组对其进行离散化处理;再依据处理结果构建非线性函数,对巡检机器人的机械参数进行参数整定处理;最后以整定后的参数为基础,对巡检机器人的全局路径和局部路径进行规划处理,从而实现巡检机器人返航的路径确定。实验结果表明,运用该方法选定的路径迭代次数少、与实际轨迹误差小、避障效果好以及搜索的路径长度短。

When determining the return path of the robot based on the current method,due to the failure to tune the parameters of the inspection robot,the path selected by this method has many iterations,large errors from the actual trajectory,poor obstacle avoidance effect,and short search path length,etc.A method for determining the return path of the inspection robot based on visual servoing is proposed.This method first uses the visual servo control method to control the speed of the inspection robot,collects speed data and organizes them into groups for discretization processing;then constructs a nonlinear function based on the processing results,and adjusts the mechanical parameters of the inspection robot.Finally,based on the adjusted parameters,the global path and local path of the inspection robot are planned and processed,so as to realize the determination of the return path of the inspection robot.The results show that the path selected by this method has fewer iterations,less error from the actual trajectory,good obstacle avoidance effect,and short search path length.