基于视觉的多自主移动机器人动态编队技术研究
Research on Dynamic Formation Technology of Multiple Autonomous Mobile Robots Based on Vision

目的：针对多自主移动机器人动态编队过程中，机器人产生的位置和角度误差问题，提出一整套基于视觉相机的空间坐标计算方法。方法：首先搭建出一套相机测距定位系统，介绍系统中各部分的构成及对应的职能；其次，构建出三位空间坐标系，详细介绍坐标系中关键数据的测算过程和计算公式；最后，搭建出含有多自主移动机器人的编队系统，对上述坐标角度计算方法进行测试和验证。结果：实验结果表明，机器人坐标角度的计算符合设计预期，良好地实现了整个编队过程。结论：基于视觉的多自主移动机器人动态编队技术符合工程应用要求。
The work aims to propose a set of spatial coordinate calculation methods based on vision cameras to solve the problem of position and angle errors generated by the robots during the dynamic for-mation of multiple autonomous mobile robots. Firstly, a set of camera ranging and positioning sys-tem is built to introduce the composition and corresponding functions of each part in the system. Secondly, a three-dimensional space coordinate system is constructed, and the measurement pro- cess and calculation formula of key data in the coordinate system are introduced in detail. Finally, a formation system with multiple autonomous mobile robots is built to test and verify the above cal-culation method. The experimental results show that the calculation results of the robot coordi-nates meet the design expectations, and the entire formation process is well realized. It may be concluded that the dynamic formation technology of multiple autonomous mobile robots satisfies the requirements on engineering applications.