Visual stabilization control method for mobile robot without expected image
A mobile robot and image vision technology, applied in non-electric variable control, two-dimensional position/channel control, image feedback, etc., can solve the problems of increasing system complexity and cost, and achieve the effect of increasing system complexity and cost
Active Publication Date: 2019-03-29
TIANJIN POLYTECHNIC UNIV
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Therefore, in the case of not obtaining the desired image in advance or in an unfamiliar scene, it solves the problem that the existing method cannot make the robot run, and does not need to add a distance sensor, without increasing the complexity and cost of the system
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Embodiment 1
[0118] First, define the system coordinate system
[0119] Section 1.1, Description of the system coordinate system
[0120] A reference coordinate system is defined based on the visual target Set the camera to coincide with the coordinate system of the mobile robot, and then define the robot / camera coordinate system at the current pose as in The origin of is at the optical center of the camera, that is, directly above the center point of the wheel axis; the z c The axis coincides with the optical axis of the camera, and also coincides with the forward direction of the robot, x c The axis is parallel to the axis of the robot; y c axis perpendicular to z c x c flat. definition Indicates the current pose coordinate system of the camera.
[0121] by Indicates that the desired coordinate system of the desired graph is not obtained in advance. In order to facilitate the control development, the introduction Represents a temporary coordinate system in the sense of...
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The invention relates to a visual servo method for a mobile robot without an expected image. Via the method, the mobile robot can be stabilized from a present pose to any specific pose under the condition that the expected image cannot be obtained in advance. A reference coordinate system is defined according to target characteristics and a temporary expected coordinate system in the proportionalmeaning is introduced to handle the condition that the expected image is lacked. A stabilizing process comprises that a polar coordinate relation a present coordinate system and the temporary expectedcoordinate system is obtained, and a system error represented by a polar coordinate can be obtained; a stabilization control rule based on the polar coordinate is designed according to a kinetic equation of the mobile robot. an adaptive update rule which can be used to identify height information of unknown characteristic points is designed according to the concurrent learning strategy, the height of the characteristic point is identified in the stabilization process of the mobile robot, and full state information of the robot can be obtained; and then, the mobile robot is stabilized from thetemporary expected coordinate system to any specific expected coordinate system via the polar coordinate control method by using the full state information of the mobile robot.
Description
technical field [0001] The invention belongs to the technical field of computer vision and mobile robots, and in particular relates to a visual stabilization control method for mobile robots without expected images. Background technique [0002] In recent years, the problem of controlling intelligent devices such as manipulator arms and wheeled mobile robots by means of visual feedback has become an important direction of control theory and robotics applications. In general, the desired image plays an important role in visual servoing, which defines the desired pose for the robotic system. However, existing methods cannot be applied to situations where the desired image is not acquired in advance or the robot operates in an unfamiliar scene. In this paper, we will study the problem of visual servoing for wheeled mobile robotic systems, where the corresponding desired image at the target pose does not exist. A major task for a robot is to be able to move to any given pose. ...
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IPC IPC(8): G05D1/02G06T1/00
CPCG05D1/0246G06T1/0014G06T2207/30241G06T7/73
Inventor 李宝全师五喜宋志伟郭利进陈奕梅
Owner TIANJIN POLYTECHNIC UNIV