机器人视觉中纠缠快速摆脱建模仿真  

Simulation of Modeling of Rapid Getting Rid of Entanglements in Robot Vision

作　　者：陶荣[1] 杜宏保[2] 

机构地区：[1]洛阳理工学院计算机与信息工程系,河南洛阳471023 [2]河南科技大学审计处,河南洛阳471023

出　　处：《计算机仿真》2014年第7期375-378,共4页Computer Simulation

基　　金：河南省自然科学基金(132300410085)

摘　　要：研究机器人视觉中纠缠摆脱方法,提高摆脱速度。机器人在一些特殊的环境下,会被随机缠绕住,在摆脱缠绕过程中,传统的机器人视觉处理配合PH曲线规划算法受到纠缠无序性的影响,存在连续重复试错问题,导致机器人摆脱的速度和位置出现较大的扰动,摆脱视觉路径规划结果存在较大偏差,减慢摆脱速度。为解决上述问题,提出了一种基于人工蜂群算法的机器人视觉中纠缠摆脱方法。对机器人视觉图像进行二进制编码,对编码结果进行二值变换,根据视觉图像二值变换结果进行特征点统计,获取对应的直方图。对观察蜂和采蜜蜂的蜜源空间位置进行更新,计算观察蜂选取蜜源的概率,并对新蜜源进行搜索。实验结果表明,利用改进算法进行机器人视觉中纠缠快速摆脱处理,能够提高摆脱速度,并且使机器人能够按照合理的路径运行。In this paper, the method for getting rid of entanglement in robot vision was studied in order to improve the speed of getting rid of entanglements. In some special circumstances, robot can be randomly entangled. To solve the problem, this paper presented a method for getting rid of the entanglements in robot vision based on artificial bee colony algorithm. Binary encoding was conducted for the robot vision image, and the binary transformation of encoding results were carried out. Based on the binary transformation resuhs of vision image, the statistics of the feature points were carried out to obtain the corresponding histogram. Then spatial location of nectar source of the observing bees and the collecting honey bees were updated, the probability of selecting nectar source by observing bees was cal- culated and the new nectar source was searched. Experimental results show that using the improved algorithm for rapidly getting rid of entanglements processing in robot vision, can increase the speed, and make the robot running according to a reasonable path.

关 键 词：机器人 纠缠摆脱 人工蜂群 

分 类 号：F127[经济管理—世界经济]