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Vision-based pose stabilization control method of moving trolley

A technology for moving the trolley and stabilizing control, which is applied in the field of intelligent robots, and can solve problems such as the dynamic model of the trolley and the servo speed without consideration, and achieve the effects of fast servo speed, improved speed and precision, and good robustness

Inactive Publication Date: 2012-10-17
BEIJING UNIV OF CHEM TECH
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Problems solved by technology

[0004] The purpose of the present invention is to provide a vision-based method for stabilizing the position and posture of a mobile car, so as to solve the problem that the above-mentioned method does not consider the dynamic model of the car and the slow servo speed in the position and posture stabilization control based on vision

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  • Vision-based pose stabilization control method of moving trolley
  • Vision-based pose stabilization control method of moving trolley
  • Vision-based pose stabilization control method of moving trolley

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Embodiment Construction

[0027] In order to better understand the technical solution of the present invention, a four-wheel differential drive mobile trolley with a monocular camera is taken as the research object to further introduce the embodiment of the present invention.

[0028] 1.1. Construct vision-based mobile car kinematics model and dynamics model, camera model

[0029] Such as figure 1 Shown is a four-wheel mobile car model, the front two wheels are driven, and the rear two wheels are differentially driven. The monocular camera is fixedly installed at the center of the car and its optical axis points to the direction of the car movement. O-XYZ is the world coordinate system, C-x c the y c z c is the camera coordinate system, the origin C coincides with the center of mass o of the car. The pose of the car is determined by the vector q=[x,z,θ] T In other words, (x, z) is the coordinate of the center of mass o of the car, θ is the angle between the body direction and the Z axis, L is the ...

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Abstract

The invention discloses a vision-based pose stabilization control method of a moving trolley, which fully considers about a kinematics model and a dynamics model of a trolley and a camera model. The vision-based pose stabilization control method comprises the following steps of: respectively obtaining an initial image and an expected image at a starting pose position and an expected pose position through a camera, and obtaining an existing image in a movement process in real time; by utilizing an antipode geometric relation and a trilinear restrain relation among shot images, designing three independent ordered kinematics controllers based on Epipolar geometry and 1D trifocal tensor by utilizing a three-step conversion control policy; finally designing a dynamic conversion control rule by taking outputs of the kinematics controllers as the inputs of the kinematics controllers by utilizing an retrieval method so that the trolley quickly and stably reaches an expected pose along a shortest path. The invention solves problems in the traditional vision servo method that the dynamics characteristic of the trolley is not considered during pose stability control and slow servo speed is slow, and the vision-based pose stabilization control method is practical and can enable the trolley to quickly and stably reach the expected pose.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a vision-based method for stabilizing the position and posture of a mobile car. technical background [0002] In recent years, mobile cars have been widely used in various industries and fields such as industry, civil use, and scientific exploration. With the development of computer technology, microelectronics technology and artificial intelligence technology, the reliability, safety and intelligence level of mobile cars working autonomously in unknown or time-varying environments are constantly improving. Vision sensors are widely used in mobile car control systems due to their low cost, rich information, and high reliability. Pose stabilization is the most basic problem in mobile car motion control. Research on the problem of mobile car visual servo stabilization has important theoretical and application value. The mobile car is a system limited by nonholonomic con...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 曹政才殷龙杰付宜利靳保
Owner BEIJING UNIV OF CHEM TECH
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