基于嵌入式视觉的子机器人入舱方法  

Embedded vision based docking approach for child robot

作　　者：赵鹏[1] 曹志强[1] 徐德[2] 陈旭潮 

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190 [2]中国科学院自动化研究所精密感知与控制中心,北京100190

出　　处：《控制与决策》2015年第12期2265-2269,共5页Control and Decision

基　　金：国家自然科学基金项目(61273352;61175111;60805038;61233014)

摘　　要：提出一种基于嵌入式视觉的子机器人入舱方法,用于子母式机器人系统中对子机器人的回收.子机器人基于自身嵌入式平台捕获和处理入口处的引导标识图像,根据局部颜色排布特征快速提取出标识中心,利用最小二乘法拟合水平颜色交界线的成像斜率,基于成像斜率-视偏角模型判别出子机器人航向与入口平面的法线关系,从而进行运动决策使二者重合以完成入舱.该方法无需摄像头标定和航迹测量即可准确入舱,仿真实验验证了所提出方法的有效性.An embedded vision based docking approach of child robot is proposed for the child robot recovery in the marsupial robotic system. Based on the embedded vision platform, the child robot captures and processes the image data of identifier set on the entrance of the docking station, and extracts the center of guiding identifier fast according to local color distribution features. Then, the horizontal color boundary line is fitted out with the least square method, involving the corresponding imaging slope. By referring to the model of imaging slope-deviation angle of observation, the child robot judges out the relationship between its heading and the normal vector of the entrance to make them basically overlap to each other and finally finish docking. The proposed approach can achieve the accurate docking without camera calibration and its effectiveness is verified by experiments.

关 键 词：子母式机器人系统 入舱 嵌入式视觉 水平颜色交界线成像斜率 视偏角 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]