全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

非结构环境下基于机器视觉的机器人路径跟踪方法

Keywords: 机器人,计算机视觉,神经网络,模糊控制,预测控制系统

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对温室环境下机器人自主导航问题,提出了基于模糊预测控制的实时路径规划和跟踪方法.通过训练神经网络对图像进行分割,获取导航预瞄点,得到机器人运动的角度偏差和横向偏差.当角度偏差小于25°时,采用预测控制的方法,用拟合圆弧曲线作为机器人跟踪的规划路径,当角度偏差大于25°时,采用模糊控制器对2驱动轮的轮速进行控制.实验表明,该方法能对曲线路径进行平滑的跟踪,以0.3m/s的速度运动时最大跟踪误差小于5cm.

References

[1]  周俊,姬长英.基于知识的视觉导航农机器人行走路径识别[J].农业工程学报,2003,11(6):101-105.ZHOU Jun,JI Chang-ying,.Road recognition for agricultural robot guided by machine vision[J].Transactions of The Chinese Society of Agricultural Engineering,2003,11(6):101-105.(in Chinese)
[2]  WANG Wei-zhong,ZHAO Jie,GAO Yong-sheng,et al.Novd approach for robot path planning based on numerical artificial potential field and genetic algorithm[J].Chinese Mechanical Engineering Society,2006,19(3):340-343.
[3]  况菲,王耀南.基于混合人工势场-遗传算法的移动机器人路径规则仿真研究[J].系统仿真学报,2006,18(3):774- 777.KUANG Fei,WANG Yao-nan.Robot bath planning based on hybrid artificial potential field/genetic algorithm[J].Journal of System Simulation,2006,18(3):774-777.(in Chinese)
[4]  高云峰,黄海.复杂环境下基于势场原理的路径规则方法[J].机器人,2004,26(2):114-118.GAO Yun-feng,HUANG Hai.A path planning algorithm based on potential field for complex enviroment[J].Robot,2004, 26(2):114-118.(in Chinese)
[5]  徐守江,朱庆保.基于遗传算法的移动机器人路径滚动规划[J].计算机工程系,2007,33(20):207-209.X(?) Shou-jiang,ZHU Qing-bao.Rolling path plan of mobile robot based on genetic algorithm[J].Computer Engineering, 2007,33(20):207-209.(in Chinese)
[6]  MAGIDE,KEREN D,RIVLIN E,et al.Spline-Based robot navigation[C]//Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.Beijing:IEEE,2006:2296-2301.
[7]  YUAN H,YANG J,QU Z,et al.An optimal real-time motion planner for vehicles with a minimum turning radius[C]// Proceedings of the 6th World Congress on Intelligent Control and Automation.Dalian:[s.n.],2006:397-402.
[8]  TAN Guan-zheng,HE Huan,SLOMAN A.Global optimal path planning for mobile robot based on improved Dijkstra algorithm and ant system algorithm[J].Journal of Central South University of Technology (English Edition),2006,13(1): 80-86.
[9]  易晟,樊晓平,罗熊.平面移动机器人最短路径规划的几何算法研究[J].长沙铁道学院学报,2003,21(1):52-56.YI Sheng,FAN Xiao-ping,LUO Xiong.Study on geometric algorithm of shortest path planning for planar mobile robot[J]. Journal of Changsha Railway University,2003,21(1):52-56.(in Chinese)
[10]  王亚文,汪西莉,曹菡,等.一种动态限制搜索区域的最短路径规划算法[J].计算机应用研究,2007,24(7):89-91.WANG Ya-wen,WANG Xi-li,CAO Han,et al.Shortest route-planning algorithm within dynamic restricted searching area [J].Application Research of Computers,2007,24(7) :89-91.(in Chinese)
[11]  陈文楷,孙云燕,赵国鑫,等.免疫遗传算法在图像分割中的应用[J].北京工业大学学报,2006,32(6):510-513.CHEN Wen-kai,SUN Yun-yan,ZHAO Guo-xin,et al.The iage segmentation method based on immune-genetic algorithms [J].Jorunal of Beijing University of Technology,2006,32(6):510-513.(in Chinese)
[12]  许张红.自动引导车视觉导航与跟踪控制研究[D].安徽:合肥工业大学机械与汽车工程学院,2004.XU Zhang-hong.The research of automatic guided vehicle based on visual navigation and tracking control[D].AnHui: School of Machinery and Automobile Engineering,Hefei University of Technology,2004.(in Chinese)
[13]  孙元义,张绍磊,李伟.棉田喷药农业机器人的导航路径识别[J].清华大学学报(自然科学版),2007,47(2):206- 209.SUN Yuan-yi,ZHANG Shao-lei,LI Wei.Guidance lane detection for pesticide spraying robot in cotton field[J].Journal of Tsinghua University (science and technology),2007,47(2):206-209.(in Chinese)
[14]  李庆中,顾伟康,叶秀清,等.移动机器人路径跟踪的智能预瞄控制方法研究[J].机器人,2002,24(3):252-255.LI Qing-zhong,GU Wei-kang,YE Xiu-qing,et al.A study of intelligent preview control method for mobile robot road following[J].Robot.2002,24(3):252-255.(in Chinese)

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133