基于视觉反馈的多机器人自重构系统研究  

Multi-robot self-reconfigurable systems based on visual feedback

作　　者：周游 双丰 李金科[2] 孙健铨[2] ZHOU You;SHUANG Feng;LI Jin-ke;SUN Jian-quan(School of Electrical Engineering,Guangxi University,Nanning 530000,China;Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China)

机构地区：[1]广西大学电气工程学院,南宁530000 [2]中国科学院深圳先进技术研究院,广东深圳518055

出　　处：《控制与决策》2022年第8期2127-2133,共7页Control and Decision

基　　金：广东省重点领域研发计划项目(2019B090917002);中国科学院科技服务网络计划(STS计划)项目(KFJSTS-QYZX-095)。

摘　　要：在执行特种任务时,为了能够实现自重构功能以适应复杂地形环境,多机器人必须拥有一套安全高效的自主对接分离系统.鉴于此,提出一种基于视觉反馈实时获取机器人相对位姿信息的方法,使控制机器人按照规划轨迹进行自主对接.首先,调整机器人对接尾座到达水平状态;然后,利用摄像头捕获到的标记板解算机器人的位姿信息;最后,控制机器人按照规划轨迹进行对接操作.独特的分离系统在多机器人出现故障时可做到实时分离,抛弃故障单元.经实验验证,自重构系统对接成功率高达97.3%以上,具有良好的鲁棒性.When performing special tasks,in order to realize the self-reconfiguration function to adapt to the complex terrain environment,multi-robots must have a safe and efficient autonomous docking and separation system.Therefore,this paper proposes a method to obtain the relative pose information of the robot in real-time based on visual feedback,and control the robot to autonomously dock according to the planned trajectory.Firstly,the docking tailstock of the robot is adjusted to reach a horizontal state,then the marker board captured by the camera is used to calculate the pose information of the robot,and finally the robot is controlled to perform docking operations according to the planned trajectory.The unique separation system can achieve real-time separation and abandon the faulty unit when the multi-robot fails.Experiments verify that the docking success rate of the self-reconfigurable system is as high as 97.3 %,which has good robustness.

关 键 词：自主对接 多机器人 视觉定位 运动规划 位姿估计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]