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Intelligent trolley 2.5-dimensional visual servo control method based on nonlinear model prediction

A nonlinear model and intelligent car technology, applied in the field of intelligent robots, can solve problems such as motion execution system control constraints, camera visibility constraints, etc., to achieve improved reliability and safety, simple implementation, and strong robustness

Inactive Publication Date: 2014-12-31
BEIJING UNIV OF CHEM TECH
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Problems solved by technology

[0005] The purpose of the present invention is to provide a 2.5-dimensional visual servo control method for smart cars based on nonlinear model prediction, so as to solve the problem that the existing 2.5-dimensional visual servo control method does not consider the control constraints and cameras existing in the motion execution system when designing the visual controller. The visibility constraint problem of

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  • Intelligent trolley 2.5-dimensional visual servo control method based on nonlinear model prediction
  • Intelligent trolley 2.5-dimensional visual servo control method based on nonlinear model prediction
  • Intelligent trolley 2.5-dimensional visual servo control method based on nonlinear model prediction

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Embodiment

[0040] like figure 1 Shown is a two-wheel smart car system, the left and right wheels are driven independently, and the camera is fixedly installed on the car. O-XYZ, o-x r the yr , C-x c the y c z c They are the world coordinate system, the robot coordinate system and the camera coordinate system respectively. The center of mass o of the trolley is located at the center of the two driving wheels. The distance between the origin C of the camera and the center of mass o is l, r is the radius of the wheel, and L is the distance from the wheel to the center of mass. The task of visual servoing is to use the visual information obtained by the camera to control the movement of the car from the initial pose to the desired pose, and to ensure that the target is always visible during the movement.

[0041] The implementation steps are as follows:

[0042] 1) Obtain the current image and the expected image of the reference target through the camera at the current pose and the expe...

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Abstract

The invention discloses an intelligent trolley 2.5-dimensional visual servo control method based on nonlinear model prediction. The intelligent trolley 2.5-dimensional visual servo control method comprises the steps as follows: firstly, obtaining a current image and an expected image of a reference target respectively through a video camera at a current pose and an expected pose; secondly, extracting the characteristic points of the reference target and the pose information of the trolley, organically combining a two-dimensional image signal with a three-dimensional pose signal through coordinate conversion, and building a 2.5-dimensional visual error model; and lastly, aiming at the 2.5-dimensional visual error model, designing a multilevel visual predication controller by utilizing a nonlinear model prediction control method. According to the intelligent trolley 2.5-dimensional visual servo control method, the problem that velocity and torque constraint of a motion performing system and visibility constraint of the video camera cannot be processed by the conventional 2.5-dimensional visual servo control method is solved, the reference target can be guaranteed to remain visible all the time in the servo process, and the reliability and the safety of a visual servo system are greatly improved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a 2.5-dimensional visual servo control method for an intelligent car based on nonlinear model prediction. technical background [0002] Intelligent car visual servoing refers to the precise control of the position and direction of the car by using the visual information obtained by the visual sensor. Visual servo is of great significance for improving the intelligent level and working ability of the car, and can improve the car's ability to learn and adapt to the external environment. According to the type of feedback information, visual servoing can be divided into three-dimensional visual servoing, two-dimensional visual servoing and 2.5-dimensional visual servoing, among which 2.5-dimensional visual servoing is a hybrid servo method that organically combines two-dimensional information and three-dimensional information. To a certain extent, it solves the problems o...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/00G05D1/02
Inventor 曹政才殷龙杰付宜利王永吉
Owner BEIJING UNIV OF CHEM TECH
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