移动机器人的广角视觉系统

S. Oh, D.J. Ahn, E. Hall
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引用次数: 2

摘要

介绍了一种用于移动机器人视觉伺服控制的广角视觉系统。阐述了一般的理论原理,然后给出了一个具体的例子。由于多自由度装置的非线性、耦合特性,一般机器人的控制问题比较困难。在特定情况下,需要巧妙的方法来解耦各种自由度并简化非线性元素。使用特定的测试车辆,即机器人割草机,为测试新概念和新方法提供了研究工具。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A wide angle vision system for mobile robots
An overview of a wide-angle vision system for vision servo control of a mobile robot is presented. General theoretical principles are stated, followed by a specific example. It is noted that the general robot control problem is difficult due to the nonlinear, coupled nature of a multi-degree-of-freedom device. In specific cases, clever methods are required to uncouple the various degrees of freedom and simplify the nonlinear elements. The use of a specific test vehicle, a robot lawn mower, has provided a research tool with which to test new concepts and approaches.<>
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