Mobile robot visual servo control method based on key frame strategy

A mobile robot and visual servo technology, applied in the field of robotics, can solve problems such as poor navigation accuracy and error accumulation

Inactive Publication Date: 2015-07-29
ZHEJIANG UNIV
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Problems solved by technology

Among them, the position-based method uses the vision system as a position sensor, uses road signs or visual odometers to position the robot, and controls the movement of the robot accordingly. This method has a simple controller design and is suitable for a wide range of motion, but Poor navigation accuracy, with error cumulative effect

Method used

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  • Mobile robot visual servo control method based on key frame strategy
  • Mobile robot visual servo control method based on key frame strategy
  • Mobile robot visual servo control method based on key frame strategy

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Embodiment

[0130] Image 6 and Figure 7 It shows the running result of the improved method, and the given conditions are: the starting pose is (0,0,0), and the ending pose is (150,200,0.1). Relevant parameters take: y ICR l = 10 cm , y ICR r = - 10 cm , z ICR = 50 cm , The angle between the optical axis of the camera and the ground is β=pi / 5, the height of the camera center from the ground is d=10cm, f u , f v Both are 500, robot v max =100cm / s, sampling period T=0.01s, the prediction time domain of controller is N=20, Q=I 4×4 , R=0.1×I 2N×2N .

[0131] After the robot starts to run, it first plans a moving path that satisfies the nonholonomic constraints of the robot based on the know...

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Abstract

The invention discloses a mobile robot visual servo control method based on a key frame strategy, which comprises the steps of 1) planning a moving path for a robot according to given conditions; 2) converting physical trajectory tracking in a visual navigation task and posture adjustment under the condition that a target is visible into a trajectory in an image feature space; 3) defining image features based on a homography relation between a current image frame and a key frame, and expressing movement conditions of the robot implicitly by the image features; and establishing a mutual relation model of visual control systems based on a robot kinematic model and a camera model, and designing and predicting a controller tracking trajectory. According to the invention, no training is required to be carried out on the robot on a given trajectory in advance, the target is not required to be continuously visible in the movement process, and the navigation accuracy of the robot is ensured to a certain degree.

Description

technical field [0001] The invention relates to a visual navigation method in the field of robots, in particular to a visual servo control method for a mobile robot based on a key frame strategy. Background technique [0002] The visual navigation technology of mobile robot is a method of controlling the movement of mobile robot with the visual system as feedback information, which is an important part of mobile robot research. Visual navigation is a hot and difficult point in the current research of mobile robots, and it plays an important role when robots perform tasks in large or complex environments. [0003] Mobile robot visual navigation techniques can be divided into location-based methods and image-based methods. Among them, the position-based method uses the vision system as a position sensor, uses road signs or visual odometers to position the robot, and controls the movement of the robot accordingly. This method has a simple controller design and is suitable for ...

Claims

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Application Information

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IPC IPC(8): G05B19/414
CPCG05B19/414G05B19/4144
Inventor 刘山曹雨贾丙西
Owner ZHEJIANG UNIV
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