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1.
用于移动机器人的视觉全局定位系统研究   总被引:6,自引:1,他引:5  
魏芳  董再励  孙茂相  王晓蕾 《机器人》2001,23(5):400-403
本文叙述了用于移动机器人自主导航定位的一种视觉全局定位系统技术.该视觉定 位系统由LED主动路标、全景视觉传感器和数据处理系统组成.本文主要介绍了为提高全景 视觉图像处理速度和环境信标识别可靠性、准确性的应用方法,并给出了实验结果.实验表 明,视觉定位是具有明显研究价值和应用前景的全局导航定位技术.  相似文献   

2.
基于全景视觉的移动机器人同步定位与地图创建研究   总被引:8,自引:0,他引:8  
提出了一种基于全景视觉的移动机器人同步定位与地图创建(Omni-vSLAM)方法.该方法提取 颜色区域作为视觉路标;在分析全景视觉成像原理和定位不确定性的基础上建立起系统的观测模型,定位出 路标位置,进而通过扩展卡尔曼滤波算法(EKF)同步更新机器人位置和地图信息.实验结果证明了该方法在 建立环境地图的同时可以有效地修正由里程计造成的累积定位误差.  相似文献   

3.
多传感器苹果采摘机器人定位系统研究   总被引:1,自引:0,他引:1  
本文研究了一种适用于苹果园中自主移动机器人的定位系统.该系统采用以CCD传感器为感应元件的数码相机获取苹果园场景视频信息,以作者开发的图象处理软件实现路标的提取和识别,并利用激光测距传感器测定机器人与路标的精确距离,结合以上信息,应用直接推理的路标全局定位方法,实现苹果园中移动采摘机器人的定位.仿真实验表明,该系统具有较高的定位精度和鲁棒性,定位精度介于95.6~99.0%之间,符合苹果采摘机器人定位要求.  相似文献   

4.
陆军  穆海军  朱齐丹  杨明 《计算机应用》2007,27(7):1677-1679
研究一种基于全景视觉的机器人自主定位的方法。利用光学视觉原理,设计了一种全景视觉传感器,从而获得机器人周围环境的全方位景物的图像。通过去除全景图像的噪声、分割颜色阈值、计算中心点等处理,识别出机器人周围景物的已知路标,采用三角定位法,计算出机器人的坐标,从而为机器人的导航、避碰等任务奠定良好的基础。实验结果表明,此方法对于机器人自主定位具有一定的可行性。  相似文献   

5.
研究水下作业系统采用水下机器人,水下机器人-机械手系统(UVMS)是一种自主或半自主作业型水下机器人,为了利用单个水下路标,结合立体视觉对其进行相对定位.通过建立双目立体摄像机的误差模型,得到立体视觉利用视差测量时沿景物及其垂直方向的两个误差分量,推导了基于单路标定位的函数模型,并利用误差传递法则,得到了定位误差模型.最后结合实际物理系统参数,给出了载体在几种典型运动下定位误差的仿真结果证明定位精度可达到要求.  相似文献   

6.
李久胜  章园媛 《计算机仿真》2010,27(8):132-136,149
自主移动机器人通过自身携带的传感器来感知周围环境是实现其智能导航的前提。由于视觉传感器只能检测路标的方位角,不能提供距离信息,当利用视觉传感器完成机器人的同步定位及地图创建(SLAM)时,由于路标距离信息的缺失,会带来新路标的初始化及旧路标关联等难题。为识别新路标方位,采用滞后的三角型测量法来估计新路标的距离,从而解决了新路标初始化及旧路标关联等问题,并最终建立了一套适用于视觉传感器的SLAM算法及在Matlab上建立的仿真模型。仿真实验结果表明,算法满足概率估计的一致性和收敛性条件,是一种有效的仅检测路标方位角的同步定位及地图创建算法,证明方法的有效性。  相似文献   

7.
基于人工路标和立体视觉的移动机器人自定位   总被引:2,自引:0,他引:2       下载免费PDF全文
针对室内移动机器人的自定位问题,提出一种基于人工路标和双目视觉的室内移动机器人自定位方法。首先设计了一种可扩展的彩色人工路标,并给出路标的编码方法;然后利用色彩空间变换,直线交比不变性以及自适应窗口实现路标检测与识别;最后在分析双目立体视觉模型的基础上建立起基于路标的双目立体视觉定位模型,实现移动机器人的准确定位。实验结果表明,路标对光照和视觉传感器的采集位置具有较强的鲁棒性,定位精度能够满足室内移动机器人的定位要求。  相似文献   

8.
基于全景视觉与里程计的机器人自定位方法研究   总被引:8,自引:1,他引:8  
通过分析全景视觉与里程计传感器的感知模型的不确定性,提出了一种基于路标观测的移动机器人自定位算法. 该算法利用卡尔曼滤波器,融合多种传感器在不同观测点获取的观测数据完成机器人自定位.与传统的、采用单一传感器自定位的方法相比,它利用视觉和里程计的互补特性,提高了自定位的精度.实验结果证明了上述方法的有效性.  相似文献   

9.
提出一种单目视觉人工路标辅助惯性导航系统(Inertial Navigation System,INS)的定位方法。首先设计人工路标,并用相机拍摄各预先设置的人工路标,记录拍摄每个路标时相机位置和姿态,建立视觉路标库。在利用惯性导航系统定位过程中,对单目相机采集到的图像进行路标提取、与路标库中相应路标进行匹配,估计当前相机位置和姿态,然后利用卡尔曼滤波将视觉匹配估计的位置信息和INS有效地融合。实验结果表明:传统航位推算方法的平均误差为0.715 m,本文组合导航方法的平均误差为0.154 m,该方法有效地提高了惯性导航定位的精度。  相似文献   

10.
研究全景视觉机器人同时定位和地图创建(SLAM)问题。针对普通视觉视野狭窄, 对路标的连续跟踪和定位能力差的问题, 提出了一种基于改进的扩展卡尔曼滤波(EKF)算法的全景视觉机器人SLAM方法, 用全景视觉得到机器人周围的环境信息, 然后从这些信息中提取出环境特征, 定位出路标位置, 进而通过EKF算法同步更新机器人位姿和地图库。仿真实验和实体机器人实验结果验证了该算法的准确性和有效性, 且全景视觉比普通视觉定位精度更高。  相似文献   

11.
为提升民用金属探测器探测精度和智能化程度,设计并制作了一种可自主移动探测的金属探测器.可自主移动的小车承载AY-LDC1000传感器探头,利用金属的涡流效应,采用STM32作为微处理器,检测探测频率的变化,并控制探测器自主移动,能在指定范围内自动、准确地探测出金属位置.通过实验检测该系统的可行性和稳定性,结果表明:探测器能精确自动探测出金属目标,且具有较高的探测率.  相似文献   

12.
13.
为了解决移动机器人在复杂环境中如何高效精确地躲避障碍物的问题,提出了一种基于BP神经网络的避障方法。建立了机器人的避障运动模型并设计了神经网络避障控制系统;分析了机器人在运动过程中与障碍物的位置关系,使用超声波传感器采集距离信息,进行BP神经网络输入、输出训练并采用Matlab工具进行仿真试验。结果表明,该方法可以高效精确地实现移动机器人的自主避障,运行相对稳定、轨迹连续平滑,达到了较为理想的避障效果。验证了方法的可行性和有效性,为移动机器人自主避障提供了一种新的控制方法。  相似文献   

14.
Recently, the cyber physical system has emerged as a promising direction to enrich the interactions between physical and virtual worlds. Meanwhile, a lot of research is dedicated to wireless sensor networks as an integral part of cyber physical systems. A wireless sensor network (WSN) is a wireless network consisting of spatially distributed autonomous devices that use sensors to monitor physical or environmental conditions. These autonomous devices, or nodes, combine with routers and a gateway to create a typical WSN system. Shrinking size and increasing deployment density of wireless sensor nodes implies the smaller equipped battery size. This means emerging wireless sensor nodes must compete for efficient energy utilization to increase the WSN lifetime. The network lifetime is defined as the time duration until the first sensor node in a network fails due to battery depletion. One solution for enhancing the lifetime of WSN is to utilize mobile agents. In this paper, we propose an agent-based approach that performs data processing and data aggregation decisions locally i.e., at nodes rather than bringing data back to a central processor (sink). Our proposed approach increases the network lifetime by generating an optimal routing path for mobile agents to transverse the network. The proposed approach consists of two phases. In the first phase, Dijkstra’s algorithm is used to generate a complete graph to connect all source nodes in a WSN. In the second phase, a genetic algorithm is used to generate the best-approximated route for mobile agents in a radio harsh environment to route the sensory data to the base-station. To demonstrate the feasibility of our approach, a formal analysis and experimental results are presented.  相似文献   

15.
移动感知网是一个由许多带有传感器的自主移动机器人组成的分布式传感器网络。为了更好地部署这些移动机器人节点,形成最大化覆盖感知区域,提出了一种基于机器人局部信息的分布式感知网覆盖方法。每个节点利用与邻居节点之间的虚拟人工势场产生的虚拟作用力来控制移动节点的运动和节点间的避碰,使移动节点能够在允许的时间内,以较少的能量消耗移动到各自理想的位置。采用李亚普诺夫函数进行了感知网节点势场梯度的理论分析,用计算机仿真实验验证了该方法的有效性,并与模拟退火算法进行了性能比较。  相似文献   

16.
基于传感器信息融合的 移动机器人自主爬楼梯技术研究   总被引:2,自引:0,他引:2  
机器人自主爬楼梯是移动机器人完成危险环境探查、侦察、救灾等任务需要具备的基本智能行为之一.分析了楼梯的多样性和履带式机器人爬楼梯固有的不稳定性导致机器人爬楼梯工作的复杂性,描述了带前导手臂的履带式移动机器人爬楼梯的步骤,简要介绍了利用超声波、视频摄像头和激光扫描测距仪信息来感知楼梯和判断机器人与楼梯相对位置的算法,最后提出了一个基于传感器测量值可信度的信息融合方法进行楼梯参数感知和行驶方向计算的机器人自主爬楼梯的控制系统结构.  相似文献   

17.
This paper presents an automated system for multiple sensor placement based on the coordinated decisions of independent, intelligent agents. The problem domain is such that a single sensor system would not provide adequate information for a given sensor task. Hence, it is necessary to incorporate multiple sensors in order to obtain complete information. The overall goal of the system is to provide the surface coverage necessary to perform feature inspection on one or more target objects in a cluttered scene. This is accomplished by a group of cooperating intelligent sensors. In this system, the sensors are mobile, the target objects are stationary and each agent controls the position of a sensor and has the ability to communicate with other agents in the environment. By communicating desires and intentions, each agent develops a mental model of the other agents' preferences, which is used to avoid or resolve conflict situations. In this paper we utilize cameras as the sensors. The experimental results illustrate the feasibility of the autonomous deployment of the sensors and that this deployment can occur with sufficient accuracy as to allow the inspection task to be performed.  相似文献   

18.
This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin’s car-like robot.  相似文献   

19.
In many autonomous mobile robotic missions the complete and fast coverage of the workspace, scanned by an unpredictable trajectory, plays a crucial role. To satisfy these special demands in the design of an autonomous mobile robot, a motion controller, based on the dynamical behavior of a known discrete chaotic system, the Logistic map, is presented in this paper. The proposed method is based on a microcontroller for realizing a chaotic random bit generator and converting the produced chaotic bit sequence, to the robot’s trajectory of motion. The experimental results confirm that this approach, with an appropriate sensor for obstacle avoidance, can obtain very satisfactory results in regard to the fast scanning of the robot’s workspace with unpredictable way.  相似文献   

20.
This paper presents a remote manipulation method for mobile manipulator through operator’s gesture. In particular, a track mobile robot is equipped with a 4-DOF robot arm to grasp objects. Operator uses one hand to control both the motion of mobile robot and the posture of robot arm via scheme of gesture polysemy method which is put forward in this paper. A sensor called leap motion (LM), which can obtain the position and posture data of hand, is employed in this system. Two filters were employed to estimate the position and posture of human hand so as to reduce the inherent noise of the sensor. Kalman filter was used to estimate the position, and particle filter was used to estimate the orientation. The advantage of the proposed method is that it is feasible to control a mobile manipulator through just one hand using a LM sensor. The effectiveness of the proposed human–robot interface was verified in laboratory with a series of experiments. And the results indicate that the proposed human–robot interface is able to track the movements of operator’s hand with high accuracy. It is found that the system can be employed by a non-professional operator for robot teleoperation.  相似文献   

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