CAJ | 학술논문

研究了室内环境下移动机器人的视觉导航问题.由单目传感器获取场景图像,利用颜色信息提取路径,采用最小二乘法拟合路径参数,简化图像处理过程,提高了算法的实时性.通过消除相对参考路径的距离偏差和角度偏差来修正机器人的位姿状态,实现机器人对路径的跟踪.为消除机器视觉识别和传输的耗时,达到实时控制,采用改进的多变量广义预测控制方法预测下一时刻控制信号的变化量来修正系统滞后.仿真和实验结果证明了控制算法的可靠性.
연구료실내배경하이동궤기인적시각도항문제.유단목전감기획취장경도상,이용안색신식제취로경,채용최소이승법의합로경삼수,간화도상처리과정,제고료산법적실시성.통과소제상대삼고로경적거리편차화각도편차래수정궤기인적위자상태,실현궤기인대로경적근종.위소제궤기시각식별화전수적모시,체도실시공제,채용개진적다변량엄의예측공제방법예측하일시각공제신호적변화량래수정계통체후.방진화실험결과증명료공제산법적가고성.
The visual navigation problem of mobile robot in indoor invironments is investigated.Firstly,scene image is obtained by monocular camera,then the image features are extracted by color information,at last the parameters of the path are calculated using the least squares method so that the image processsing is predigested and the real-time performance of the algorithm is enhanced.The pose of the robot is modified by eliminating the distance error and the angle error between the robot and the given path.To achieve real-time control and to eliminate the delay caused by machine vision identification and transmission,the improved generalized predictive control for multivariable system is adopted to predict the variety of control signal at the next period to modify the delay of the system.Simulation and experimental results demonstrate the validity of the proposed algorithm.