基于自适应随动机构的机器人目标跟随  

Robot target following based on adaptive follower mechanism

作　　者：陈宏鑫 张北 王春香 杨明[1] CHEN Hong-xin;ZHANG Bei;WANG Chun-xiang;YANG Ming(Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学自动化系,上海200240

出　　处：《浙江大学学报（工学版）》2022年第6期1071-1078,共8页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(61873165,62173228,62103261)。

摘　　要：针对机器人使用固定传感器容易丢失跟随目标的问题,提出基于自适应随动机构的行人跟随方法.基于任务需求设计随动式感知机构视野评价指标;在传统规划策略的基础上,提出结合底盘方向的改进策略和基于视野深度加权的自适应角度规划策略,改进随动机构的运动目标跟随效果.为了提高随动RGB-D传感器的行人位置跟踪效果,使用YOLOv3算法进行目标检测,结合三维坐标解算与位置度量匹配,实现多目标位置的实时跟踪.基于Gazebo仿真环境与RoboMaster机器人,实现机器人行人跟随功能.所提规划策略能够取得综合最优的评分指标,并实现机器人对运动行人目标稳定的轨迹跟随.实验结果证明了所提目标跟随方法的有效性.A pedestrian following method based on adaptive follower mechanism was proposed focusing on the problem that robots lose targets easily with fixed sensors. Based on task requirements, the field of view evaluation metrics of the follower perception mechanism were designed. On the basis of traditional planning strategies, an improved planning strategy derived from chassis direction and a depth weighting based adaptive angle planning strategy were proposed to improve the moving target following performance of the follower mechanism. To improve pedestrian position tracking with follower RGB-D sensor, the YOLOv3 algorithm was used for target detection,combined with 3D coordinate solving and position matching to achieve real-time tracking of multiple targets.Gazebo simulation platform and RoboMaster robot were used to implement robot’s pedestrian following function.The proposed planning strategy is shown to achieve comprehensive optimal metrics and stable trajectory following to moving pedestrian targets, which proves the effectiveness of the target following method.

关 键 词：行人跟随 移动机器人 RGB-D传感器 目标跟踪 自适应角度规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]