一种基于旋转矩阵分解的视觉伺服控制算法  

Development of Research in Flagella of Chlamydomonas reinhardtii

作　　者：秦琅[1] 朱毅[2] 

机构地区：[1]首都师范大学资源环境与旅游学院首都圈生态环境过程重点实验室,北京100048 [2]中国农业大学食品科学与营养工程学院,北京100083

出　　处：《首都师范大学学报（自然科学版）》2012年第1期45-49,共5页Journal of Capital Normal University：Natural Science Edition

基　　金：衣藻光合放氢机理及应用研究.项目号：250111040

摘　　要：针对传统视觉伺服控制算法易使目标物品脱离摄像机视野而致伺服失败的缺点,从表征当前摄像机坐标系与期望摄像机坐标系姿态关系的旋转矩阵中分解出了等效转轴和等效转角,利用它们构造了一种可以有效控制摄像机朝向的任务函数矢量,并推导出了表征任务函数矢量变化量与摄像机运动速度间非线性映射关系的雅可比矩阵。然后构造了任务函数,并根据李雅普诺夫第二方法设计了解耦的视觉伺服控制律,最后对所设计的控制律进行了实验验证。实验结果表明,使用旋转矩阵分解方法构造的任务函数矢量来控制摄像机朝向,可使目标物体始终位于摄像机的视野之内,从而有效避免伺服失败。Chlamydomonas reinhardtii,taking it as the optimal model systems for the research of the internal structure of cilia,has been payed close attention for a long period.Though without the control of nerve cells,Chlamydomonas reinhardtii can make its flagella adapt to different circumstances with precise mechanisms.For its sophisticated related to knowledge in several fields,so it was still under exploring.Recent years,with the help of micro and nano technology and the sensor technology,pushing forward by Genetics,it has got some breaks,set up many novel theoretics.This essay illustrated the breakthroughs in this area,combining with the situation of study,pointed out the future research in flagella of Chlamydomonas reinhardtii and its wide perspective.

关 键 词：视觉伺服 旋转矩阵分解 家庭服务机器人 

分 类 号：Q949.2[生物学—植物学]