摘要
在已有的对智能机器人视觉导航系统的研究中,大多是在绝对坐标下进行的,由此导致规划路径的容错能力差,并且误判增多。采用上位计算机控制智能机器人下位单片机的控制系统方案,制定了一种有效的上位PC机中的分段路径导航策略,并给出了一种新型的直线斜率定义以及相对坐标定位法,由纵坐标和横坐标的相对位移量来计算斜率的变化,更能反映出机器人在运动中自身的位置状况。最后通过对应用于AS-UII型能力风暴机器人实验平台上所获得的实验结果和数据的分析讨论,证明所提出方法的可行性和有效性。
In existing researches on vision-based navigation system of the intelligent robot,most of them are carried out based on absolute coordinates,which results in bad fault tolerance of path-planning and the misjudgements are increased as well. There is a control system scheme using host computer to control lower singlechip of the intelligent robot being adopted in the paper. An effective scheme of navigation in host PC computer relying on subsection paths is made,and a new definition on slope of line and the relative coordinate orientation method are also proposed. The variation of the slope is computed by the relative shifts in both x-axis and y-axis and which can reflect better the location and pose of the intelligent robot while moving. In end of the paper,by analysing and discussing the experimental results and data derived from applying the proposed scheme in experimental platform of the AS-UII ability storm intelligent robot,the feasibility and the effectiveness of this new scheme is proved.
出处
《计算机应用与软件》
CSCD
2010年第12期218-220,242,共4页
Computer Applications and Software
关键词
智能机器人
视觉导航
坐标系
导航策略
Intelligent robot Navigation based on vision Coordinate Navigation scheme
