俯视相机辅助的地面机器人导航实验平台  

Experimental Platform of Ground Robot Navigation System Aided by Overlooking Camera

作　　者：曹明宇 袁家遥 张志明[1] 赖志杰 朱子祎 CAO Mingyu;YUAN Jiayao;ZHANG Zhiming;LAI Zhijie;ZHU Ziyi(College of Electronics and Information Engineering,Tongji University,Shanghai 200092,China)

机构地区：[1]同济大学电子与信息工程学院,上海200092

出　　处：《实验室研究与探索》2020年第11期83-87,135,共6页Research and Exploration In Laboratory

基　　金：教育部高等教育司2018年国家级大学生创新创业训练计划(201810247131);同济大学2019~2020年度本科教学改革研究与建设项目(TJ0800104500);同济大学本科交叉课程建设项目(TJ0800104239,TJ1350104085);同济大学本科生学科竞赛项目(TJ4250145302/001)。

摘　　要：基于复杂地形造成的各种不确定性使得机器人的环境感知能力受到极大限制,设计了俯视相机辅助的地面机器人导航系统综合实验平台:俯视相机提供全局观察信息,经过图像处理后使用A*算法为地面机器人规划计算出可行路径,同时根据目标跟踪为机器人提供实时定位信息;地面机器人通过复合模糊PID算法实现给定路径的跟踪控制,最终到达所指定目标点。Matlab仿真与实际场景测试结果表明,本方案有效可行,可激发学生的学习兴趣,培养创新思维和工程实践能力。In complex terrains,the robot’s perception is greatly limited due to various uncertainties. For these specific scenarios,an experimental platform for ground robot navigation system aided by an overlooking camera is designed and implemented. The global observation information is provided by the overlooking camera mounted on the ceiling. After image processing,a collision-free path is calculated using A*algorithm and the real-time positioning information is provided using object tracking. The ground robot tracks the given path through fuzzy-PID algorithm and finally reaches the specified target point. The results of Matlab simulation and experiments in real scene testify the feasibility and effectiveness of the proposed scheme,which can also stimulate students’ learning interest,cultivate innovative thinking and engineering practice ability,thus achieve the goal of "solving complex engineering problems " in engineering education accreditation.

关 键 词：地面机器人 定位导航 俯视相机 路径规划 跟踪控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]