引导者-随从自主机器人控制中一自由度旋转平台的设计

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI:10.1109/MMAR55195.2022.9874308

W. Kowalczyk, Arpit Joon

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引用次数: 1

摘要

本文介绍了一种用于英特尔RealSense传感器的一自由度旋转平台的设计和一种引导者-从动控制算法。旋转平台将放置在跟随机器人上，以跟踪领导机器人上的ArUco标记。四个ArUco标记将在不同方向上放置在领导机器人上。比例-积分-导数控制器(PID控制器)帮助旋转平台独立于跟随机器人本身的运动跟踪ArUco标记。从ArUco标记检测中，由follower机器人计算出leader机器人的姿态。本文在机器人操作系统(ROS)的凉亭软件中进行了实验仿真。

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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Design of one degree of freedom rotating platform applied in leader-follower autonomous robot control

This paper describes the design of one degree of freedom rotating platform for an Intel RealSense sensor and a leader-follower control algorithm. The rotating platform will be placed on the follower robot to track the ArUco markers on the leader robot. Four ArUco markers will be placed on the leader robot in different directions. The proportional-integral-derivative controller (PID controller) helps the rotating platform track the ArUco marker independently from the motion of the follower robot itself. The pose of the leader robot will be calculated by the follower robot from the ArUco marker detection. This paper involves the simulation of the experiment in gazebo software in the Robot Operating System (ROS).

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来源期刊

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)

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