移动机器人PT视觉监控多目标策略与实现  

Realization and Strategy for Autonomous Mobile Robot to Monitor Multi-object Using PT Vision

作　　者：胡丹丹[1] 牛国臣[2] 曾浩[2] 高庆吉[1,3] 

机构地区：[1]中国民用航空学院中国民航航空地面特种设备研究基地 [2]东北电力学院自动化学院 [3]哈尔滨工业大学计算机科学与技术学院,哈尔滨150001

出　　处：《中国民航学院学报》2004年第6期1-4,10,共5页Journal of Civil Aviation University of China

基　　金：国家高技术发展计划资助项目(863-2002AA735041).

摘　　要：提出了一种多动态目标的监控模型,设计了目标监控优先级的计算方法和动态扫描队列的实现算法,并利用粗糙集理论的约简算法求得最小目标监控规则集,实现了仅利用单个PT(pan-tilt)摄像机对多个动态目标的实时监控。所进行的实际机器人动态环境实验,验证了提出方法的有效性和实用性。通过对实际和计划监控几率的比值分析说明了监控策略的合理性。A multi-object monitoring model is proposed,with designs of algorithm and for the method of deployed cameras' dynamic scanning.A minimum object monitoring rule-set is derived from a simplified algorithm of the rough-set theory.It brings about simultaneous real time multi-objects monitoring with a single PT (pan-tilt) video camera. Through a dynamic environmental experiment with deployed robots, the efficiency and practicability of the strategy is proved. The monitored ratio out of the succeeded monitoring multi-objects vs planned ones and the analysis thereof show that the monitoring strategy is rational.

关 键 词：自主移动机器人 多目标监控 视觉伺服 粗糙集 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]