机器人视觉跟踪轨迹的分级规划方法

针对跟踪轨迹规划对于确保得到连续光滑的跟踪运动的重要性，提出了两级视觉跟踪轨迹规划方法。第一阶段在图像平面上规划运动轨迹，在图像平面上得到的离散规划点映射到机器人关节空间。第二阶段在机器人关节空间中用三次样条函数来连接这些离散点。为了满足实时控制的要求，在图像处理过程中采用窗口技术并抽取边缘特征。建立用于跟踪两维平面运动物体(如随运输带运动的物体)的机器人视觉跟踪控制系统。实验结果表明，跟踪误差渐近地减小到允许的数值范围，所提出的跟踪轨迹规划方法是有效的。

Hierarchical Method for Robotic Visual Tracking Trajectory Planning

For the importance of tracking trajectory planning to guarantee the continuous and smooth tracking motion,two stages visual tracking trajectory planning method is presented. In the first stage, trajectory planning is performed on image plane. Planned discrete points on image plane are then mapped to robotic joint space. In the second stage, three-order spline curve is used to connect the discrete points in robotic joint space. In order to satisfy real-time control demand, window technique is adopted and edge features are extracted to improve the searching speed. Robotic visual tracking control system with open architecture is implemented to track moving object such as objects moving with conveyance on two-dimensional plane. Experimental results show that the tracking error is gradually reduced to the range of small permitted value and the presented planning method is valid.