摘要
地面轨线跟踪是机器人视觉导航控制基本技术之一 .文中针对曲率变化较大的地面轨线跟踪提出了一种新的状态控制方法 .该方法从图像中提取参考轨线的方向和幅度参数作为状态控制的输入 ,调整速度和转速实现跟踪控制 .为改善控制性能 ,当由于摄像机倾角较大而引起的图像畸变较大时 ,利用射影变换把参考轨线参数从图像坐标系映射到机器人坐标系 ,而无须提供位置、曲率等参数 .
Trajectory tracking on the ground is an elementary technique in vision guided robot systems. In this paper a novel state based control approach is proposed for tracking trajectory whose curvature changes greatly. Input of the state based tracking control is achieved by extracting reference trajectory direction and amplitude parameters from vision images, and the tracking control is realized by regulating translational and rotational velocity for output. In order to improve the control performance, when the image distortion is too large resulting from camera obliquity, these parameters are transformed from image coordinate to robot coordinate through projective transformation, while parameters such as position and curvature are not necessarily provided. Experimental results demonstrate the validity of the approach.
出处
《机器人》
EI
CSCD
北大核心
2003年第5期432-437,共6页
Robot
基金
国家高技术研究发展计划 (86 3计划 )资助项目 (编号 2 0 0 1AA4 2 2 2 6 0 )
关键词
移动机器人
视觉导航
轨线跟踪
移动控制
mobile robot
vision based navigation
trajectory tracking
motion control
