水下球形机器人视觉防碰撞编队策略 |
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引用本文: | 石立伟. 水下球形机器人视觉防碰撞编队策略[J]. 兵工自动化, 2022, 41(10) |
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作者姓名: | 石立伟 |
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作者单位: | 北京理工大学生命学院 |
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基金项目: | 国家自然科学基金项目(61773064,61503028) |
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摘 要: | 为解决小型水下机器人编队系统协调周期长、碰撞事故率高等问题,提出一种基于双目视觉的领航者-跟随编队形成方法。利用水下球形机器人平台的双目视觉系统通过点匹配算法实现机器人的3 维相对定位,将视觉系统解算的控制量作为机器人运动控制的输入量,根据机器人的运动性能设置安全阈值以实现机器人的水下防碰撞编队,开展2 个球形机器人的编队实物实验。结果表明,该方法具备有效性。
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关 键 词: | 水下机器人;双目视觉;防碰撞策略;领航者-跟随编队控制 |
收稿时间: | 2022-06-01 |
修稿时间: | 2022-07-08 |
Visual Anti-collision Formation Strategy of Underwater Spherical Robot |
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Abstract: | In order to solve the problems of long coordination period and high collision accident rate of smallunderwater robot formation system, a leader-follower formation method based on binocular vision is proposed. The 3Drelative positioning of the robot is realized by using the binocular vision system of the underwater spherical robot platformthrough the point matching algorithm. The control quantity calculated by the vision system is used as the input quantity ofthe robot motion control, and the safety threshold is set according to the motion performance of the robot to realize theunderwater anti-collision formation of the robot.The formation experiment of 2 spherical robots is carried out. The resultsshow that the method is effective. |
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Keywords: | underwater robot binocular vision anti-collision strategy leader-follower formation control |
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