水下球形机器人视觉防碰撞编队策略

Visual Anti-collision Formation Strategy of Underwater Spherical Robot

为解决小型水下机器人编队系统协调周期长、碰撞事故率高等问题,提出一种基于双目视觉的领航者-跟随编队形成方法。利用水下球形机器人平台的双目视觉系统通过点匹配算法实现机器人的3维相对定位,将视觉系统解算的控制量作为机器人运动控制的输入量,根据机器人的运动性能设置安全阈值以实现机器人的水下防碰撞编队,开展2个球形机器人的编队实物实验。结果表明,该方法具备有效性。

In order to solve the problems of long coordination period and high collision accident rate of small underwater robot formation system,a leader-follower formation method based on binocular vision is proposed.The 3D relative positioning of the robot is realized by using the binocular vision system of the underwater spherical robot platform through the point matching algorithm.The control quantity calculated by the vision system is used as the input quantity of the robot motion control,and the safety threshold is set according to the motion performance of the robot to realize the underwater anti-collision formation of the robot.The formation experiment of 2 spherical robots is carried out.The results show that the method is effective.