Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A visual servo control method of mobile robot based on key frame strategy

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

Inactive Publication Date: 2017-01-25
ZHEJIANG UNIV
View PDF4 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A visual servo control method of mobile robot based on key frame strategy
  • A visual servo control method of mobile robot based on key frame strategy
  • A visual servo control method of mobile robot based on key frame strategy

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0130] Image 6 with 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 known starting and ending positions, and transforms it into the image feature spa...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/414
CPCG05B19/414G05B19/4144
Inventor 刘山曹雨贾丙西
Owner ZHEJIANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com