基于主动视觉和超声的机器人目标跟踪系统

运动目标跟踪技术是未知环境下移动机器人研究领域的一个重要研究方向。该文提出了一种基于主动视觉和超声信息的移动机器人运动目标跟踪设计方法,利用一台SONY EV-D31彩色摄像机、自主研制的摄像机控制模块、图像采集与处理单元等构建了主动视觉系统。移动机器人采用了基于行为的分布式控制体系结构,利用主动视觉锁定运动目标,通过超声系统感知外部环境信息,能在未知的、动态的、非结构化复杂环境中可靠地跟踪运动目标。实验表明机器人具有较高的鲁棒性,运动目标跟踪系统运行可靠。

Moving object tracking technique is important in the field of mobile robots under unknown environments.A design method of mobile robot moving object tracking based on active vision and ultrasonic information is put forward.The system consist of a SONY EV-D31 color video camera,a self-made camera control module,image acquisition and processing units,etc.The mobile robot adopts behavior-based distributed control architecture.In an unknown,dynamic and the unstructured environment,the robot can reliably track the moving object with the active vision system to gaze at the moving object and ultrasonic ranging system to sense its outer environment.Experiments show the robot possesses high robustness and the moving object tracking system runs reliably.

国家“863”计划基金资助项目(2007AA04Z240);;天津市应用基础研究计划基金资助重点项目(033803111);;河北省自然科学基金资助项目(F2007000118);;中科院沈阳自动化所机器人学研究室基金资助项目(RL200202)