单目视觉定位实现机器人跟踪的实验系统和控制方法
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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.
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.
引文
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[17] LIANG Xinwu,LIU Yun,WANG Hesheng,et al.Leader-following formation tracking control of mobile robots without direct position measurements[J].IEEE Transactions on Automatic Control,2016,61(12):4131-4137.
[2] BENGOCHEA-GUEVARA J M,CONESA-MU?OZ J,ANDùJAR D,et al.Merge fuzzy visual servoing and GPS-based planning to obtain a proper navigation behavior for a small crop-inspection robot[J].Sensors,2016,16(3):276(1-23).DOI:10.3390/s16030276.
[3] 李胜,马国梁,胡维礼.基于Backstepping方法的车式移动机器人轨迹追踪控制[J].东南大学学报(自然科学版),2005,35(2):248-252.
[4] 叶涛,侯增广,谭民,等.移动机器人的滑模轨迹跟踪控制[J].高技术通讯,2004,14(1):71-74.DOI:10.3321/j.issn:1002-0470.2004.01.015.
[5] 王祥科,李迅,郑志强.多智能体系统编队控制相关问题研究综述[J].控制与决策,2013(11):1601-1613.
[6] REN Wei,BEARD R W.A decentralized scheme for spacecraft formation flying via the virtual structure approach[C]//American Control Conference.Denver:IEEE Press,2003:1746-1751.DOI:10.1109/ACC.2003.1239847.
[7] 王志,朱世强,李月华,等.基于视觉里程计和自然信标融合的移动机器人定位算法[J].农业工程学报,2017,33(10):70-77.DOI:10.11975/j.issn.1002-6819.2017.10.009.
[8] CHEN Jiaju,DIXON W E,DAWSON M,et al.Homography-based visual servo tracking control of a wheeled mobile robot[J].Robotics,2006,22(2):406-415.DOI:10.1109/IROS.2003.1248907.
[9] FIALA M.Vision guided control of multiple robots[C]//Proceedings of Computer and Robot Vision.Ontario:IEEE Press,2004:241-246.DOI:10.1109/CCCRV.2004.1301450.
[10] 丁文东,徐德,刘希龙,等.移动机器人视觉里程计综述[J].自动化学报,2018,44(3):385-400.DOI:10.16383/j.aas.2018.c170107.
[11] HAN Y,HAHN H.Visual tracking of a moving target using active contour based SSD algorithm[J].Robotics and Autonomous Systems,2005,53(3):265-281.DOI:10.1016/j.robot.2005.09.005.
[12] 杨芳,王朝立.不确定非完整移动机器人的轨迹跟踪控制[J].控制工程,2012,19(2):258-261.DOI:10.3969/j.issn.1671-7848.2012.02.019.
[13] 李庆,郑力新,潘书万,等.使用单目视觉的移动机器人导航方法[J].计算机工程与应用,2017,53(4):223-227.DOI:10.3778/j.issn.1002-8331.1607-0157.
[14] 尉成果,赖欢,王太江.轮式移动机器人轨迹跟踪控制算法的研究[J].机电工程,2012,29(6):730-736.DOI:10.3969/j.issn.1001-4551.2012.06.027.
[15] 鄢立夏,马保离.轮式移动机器人的位置量测输出反馈轨迹跟踪控制[J].控制理论与应用,2016,33(6):763-771.DOI:10.7641/CTA.2016.50348.
[16] KANAYAMA Y,KIMURA Y,MIYAZAKI F,et al.A stable tracking control method for an autonomous mobile robot[C]//Conference on Robotics and Automation.Cincinnati:IEEE Press,1991:384-389.DOI:10.1109/ROBOT.1990.126006.
[17] LIANG Xinwu,LIU Yun,WANG Hesheng,et al.Leader-following formation tracking control of mobile robots without direct position measurements[J].IEEE Transactions on Automatic Control,2016,61(12):4131-4137.