基于视觉传感器的机器人路径跟踪摄像机模型及逆模型运算  

Model and inverse model operation of robot path tracing camera based on visual sensor

作　　者：杨杰[1] 张明路[1] 

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《大庆石油学院学报》2009年第5期93-97,共5页Journal of Daqing Petroleum Institute

基　　金：国家高技术研究发展计划(863计划)项目(2006AA04Z221)

摘　　要：基于颜色传感器和条形码组合的移动机器人路径跟踪方法,虽然跟踪准确,不易受干扰,但跟踪轨迹成"之"字形比较严重.对此,采用基于彩色视觉和神经网络方法实现路径跟踪,建立HEBUT-Ⅱ型移动机械手的摄像机模型,完成摄像机的逆模型变换,将路径、路标信息从图像空间中恢复出来.路标识别实验结果表明,基于摄像机模型及逆模型运算的路径识别与跟踪方法可以达到较高精度.Although mobile robot path tracing method based on color sensor and combination of bar code provides accurately tracing and can not be interfered easily,'zigzag' tracing track is fairly serious.For this,path tracing is realized using the methods based on color visual and fuzzy control.A HEBUT-Ⅱcameral model for mobile mechanical hand is established and inverse model transformation of camera is accomplished by which path and signpost information are recovered from image space.Results taking from signpost experiments identification indicate that path identification and tracing method based on camera model and inverse model operation can reach higher precision.

关 键 词：移动机器人 路经跟踪 逆模型运算 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]