将视觉伺服计画纳入本科机器人课程

Lili Ma, Mohamed Alborati, Jiahui Song
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引用次数: 0

摘要

本文描述了将视觉伺服项目纳入本科机器人课程。机器人平台是一个视觉增强的VEX机器人,通过将商用VEX机器人与树莓派单板计算机(加上其摄像头模块)集成而成。这个项目允许学生完成基于视觉的控制任务的几个关键步骤,包括相机校准,深度恢复,图像处理,通信和基本机器人控制。以视觉为基础的控制,曾经是研究生水平的课题,现在也暴露给了本科生。该项目将加强学生对相关主题的理解,让他们接触更复杂的机器人系统,为他们提供在多学科领域编程和设计的机会,并为他们提供更完整的知识、技能和实践经验,为他们在学校及以后的其他活动提供帮助。学生的反馈证实了这个项目对他们的学习是有效的。商用机器人套件和组件的使用使得该项目可以在其他机构轻松生产。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Inclusion of a Visual Servoing Project into an Undergraduate Robotic Course
This paper describes the inclusion of a visual servoing project into an undergraduate robotic course. The robotic platform is a vision-enhanced VEX robot, constructed by integrating the commercially-available VEX robot with the Raspberry PI single-board computer (plus its camera module). This project allows students to go through several key steps in a vision-based control task, including camera calibration, depth recovery, image processing, communication, and basic robot control. Vision-based control, which was once a graduate-level subject, is now exposed to undergraduate students. This project will strengthen students' understanding of relevant topics, expose them to more complex robotic systems, provide them opportunities to program and design in multi-disciplinary areas, and prepare them with a more complete set of knowledge, skills, and hands-on experience to benefit other activities they do at school and beyond. Students' feedback confirms that this project is effective in enhancing their learning. The usage of commercially-available robotic kits & components allows this project to be easily produced at other institutions.
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