基于视觉的独轮车机器人反馈控制实现

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI:10.1109/ROMOCO.1999.791060

B. Kwolek, T. Kapuscinski, M. Wysocki

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引用次数: 13

摘要

本文研究了独轮车实验室移动机器人实时视觉控制的开发与实验实现。讨论了两个问题:1)基于静态单色CCD相机从上方俯视平面运动场获得的图像进行姿态跟踪;2)在车载摄像头观察到的道路上，沿着白线给出的连续或虚线的几何路径行驶。给出了反馈规律的实现细节以及计算机仿真和实车实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Vision-based implementation of feedback control of unicycle robots

The paper considers the development and experimental implementation of real-time visual control for unicycle laboratory mobile robots. Two problems are discussed: 1) posture tracking on the basis of pictures obtained from static monochromatic CCD camera looking down at the planar motion field from above; and 2) following geometric path given as white line, continuous or dashed, on the road observed by an on-board camera. Realization details of feedback laws and results of computer simulations and experiments with real vehicles are presented.

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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

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