移动机器人运动目标跟踪系统设计

利用SONYEV-D31摄像机和自主研发的摄像机控制模块,构建了一套主动视觉子系统,并将该子系统应用于RIRA-II型移动机器人上,实现了移动机器人运动目标自动跟踪功能。RIRA-II移动机器人采用了由一组分布式行为模块和集中命令仲裁器组成的基于行为的分布式控制体系结构。各行为模块基于领域知识通过反应方式产生投票,由仲裁器产生动作指令,机器人完成相应的动作。在设置了障碍、窄通道以及模拟墙体的复杂环境下进行运动目标跟踪实验,实验表明运动目标跟踪系统运行可靠,具有较高的鲁棒性。

The design method of an active vision sub-system consisted of a SONY EV- D31 camera and a self-made camera control module is put forward. The sub- system has been equipped on RIRA-II mobile robot to implement a mobile robot moving object tracking system. RIRA-II robot adopts behavior-based distributed architecture which consists of a group of distributed behaviors and a command arbiter. The behaviors use domain knowledge to vote by reactive method, the arbiter is responsible for generating command for robot to accomplish various actions. Moving object tracking experiment is completed in a complex environment with obsta-cles, narrow aisles and walls. The experiments show the moving object tracking system runs reliably and possesses high robustness.

河北省自然科学基金项目(F2007000118);;河北省科学技术研究与发展计划项目(05547003D-2);;中科院沈阳自动化所机器人学研究室资助项目(RL200202)