单目视觉定位实现机器人跟踪的实验系统和控制方法  

Experimental System and Control Method for Robot Tracking by Monocular Vision Positioning

作　　者：程前 聂卓赟[1] 方浩澄 邵辉[1] CHENG Qian;NIE Zhuoyun;FANG Haocheng;SHAO Hui(School of Information Science and Engineering,Huaqiao University,Xiamen 361021,China)

机构地区：[1]华侨大学信息科学与工程学院

出　　处：《华侨大学学报（自然科学版）》2019年第4期542-548,共7页Journal of Huaqiao University(Natural Science)

基　　金：国家自然科学基金资助项目(61403149);华侨大学研究生科研创新基金资助项目(18013082038)

摘　　要：提出一种基于视觉定位的多机器人跟踪控制方法.首先,采用单目视觉定位技术,建立平面物理坐标与视觉图像坐标之间的映射关系.然后,结合轮式移动机器人的运动学模型,基于Lyapunov方法设计轨迹跟踪控制器.最后,结合视觉定位确定机器人的平面坐标位置,分阶段规划机器人运动轨迹,实现多机器人跟踪控制.仿真和实验结果表明:该方法具有可行性和有效性.This paper proposes a tracking control method for multi-robot based on vision localization.Firstly,the mapping relationship between plane physical coordinates and visual image coordinates is established by using monocular vision localization technology.Then,combined with kinematics model of wheeled mobile robot,a trajectory tracking controller is designed based on Lyapunov method.Furthermore,combined with visual positioning to detemine robot's plane coordinate position,and trajectory planning is carried out for stages,the tracking control for multi-robot was realized.Simulation and experimental results verify the feasibility and effectiveness of the method.

关 键 词：视觉定位 轨迹跟踪控制 Lyapunov法 多机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]