基于遗传算法的动态视觉检测系统  

Robot Dynamic Visual Detection System Based on Genetic Algorithm

作　　者：楼晓燕[1] 

机构地区：[1]嘉兴学院数学与信息工程学院,浙江嘉兴314001

出　　处：《计算机测量与控制》2009年第5期861-864,共4页Computer Measurement &Control

摘　　要：建立了一种基于二自由度机器人视觉伺服系统,该系统通过实时监控和跟踪运动目标,实现对运动目标的相对距离和瞬时速度的动态检测;该系统为双目视觉系统,采用遗传算法进行特征点匹配,利用其随机搜索的特点,更快更好地找到全局最优值,从而得到较高匹配精度的点,最后通过三维重建和建立速度模型,实现了对机器人动平台运动参数的动态检测,并给出测量精度及改进方法;实验结果表明,此方法方便、有效,获得了较满意的检测结果;此方法还适用于多自由度并联机器人和空间复杂运动的检测。A visual servo system based on a 2-DOF robot is presented. This system can dynamically detect the relative distance and the instantaneous velocity of a moving object. It is a binocular vision system and has already calibrated. It uses genetic algorithm to match the feature points. Based on GA ＇s random searching method, we can find the global optimization value faster and better, and then get higher accuracy of matching points. Finally, through 3-D reconstruction and the establishment of velocity model, we reach the goal of dynamic detection about robot＇s moving platform motion parameters. We also give the measurement accuracy and improved method of the system. This improved method can also applicable to multi-DOF parallel robot and space complex motion detection.

关 键 词：立体视觉 遗传算法 动态检测 二自由度机器人 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]