摘要
提高机器人运动轨迹跟踪的精度与稳定性,增强抗干扰能力,研究激光传感器融合的复杂环境机器人运动轨迹跟踪,通过单目视觉传感器获取目标物三维信息,依据三维信息构建单目视觉定位模型,检测识别目标物,为激光传感器提供角度信息;利用激光传感器融合角度信息,精准测出目标物距离值;通过加入序列重要性采样改进粒子滤波算法,结合目标物距离值,实现机器人运动轨迹跟踪。实验证明:所研究方法对目标行人距离测量更为精准,在不同高斯噪声与闪烁噪声环境下,机器人运动轨迹跟踪偏差较小,稳定性高,抗干扰能力强。
In order to improve the precision and stability of robot trajectory tracking in complex environment with laser sensor fusion and enhance its anti-interference ability,the paper studied the trajectory tracking of robot in complex environment.The 3D information of the target is obtained through the monocular vision sensor,and a monocular vision positioning model is constructed based on the 3D information to detect and identify the target and provide Angle information for the laser sensor.Using the laser sensor fusion Angle information,accurate measurement of the target distance value.By adding sequence importance sampling to improve the particle filter algorithm and combining the distance value of target object,the robot trajectory tracking is realized.Experimental results show that the proposed method is more accurate for the target pedestrian distance measurement.In different Gaussian noise and scintillation noise environments,the robot's motion trajectory tracking deviation is small,with high stability and strong anti-interference ability.
作者
李倩
王超
LI Qian;WANG Chao(Electronic Information College of Changchun Guanghua University,Changchun 130000,China)
出处
《激光杂志》
CAS
北大核心
2021年第11期173-178,共6页
Laser Journal
基金
吉林省教育厅科学技术研究项目。
