Wide Angle Tracking System for Mobile Robots

移动机器人广角跟踪系统

• 批准号: 8860314
• 负责人: Ernest Hall
• 金额: $ 4.96万
• 依托单位: International Computer Robotics Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1989
• 资助国家: 美国
• 起止时间: 1989-01-01 至 1989-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8860314&HistoricalAwards=false
• 关键词: Wide; Angle; Tracking; System; Mobile

A new technique for mobile robot navigation and control has recently been investigated. The technique uses a wide angle lens to image specified targets and uses image detection and recognition to determine the position of the robot with respect to the targets thus providing a basis for navigation control. This sensor may also be used alone or with other sensors to provide obstacle avoidance for stationary or moving objects. The higher level problems of path following and region filling are also included in this research in a hierarchical control structure. For unstructured and changing environments, the navigation control problem is crucial. This research is directed toward the vision control problem. In particular, a high speed vision tracking method is proposed for this research. A hardware architecture using binary image processing with multiple data and processing paths will be investigated. In this manner, we hope to achieve vision tracking rates which will permit a vision based controller to be used for a wide variety of mobile robots.

移动的机器人导航和控制的新技术， 最近被调查。 该技术使用广角 透镜，用于对指定目标成像，并使用图像检测， 识别，以确定机器人相对于 从而为导航控制提供基础。 该传感器也可以单独使用或与其他传感器一起使用，以 为静止或移动的物体提供避障功能。 路径跟踪与区域填充的高级问题 也包括在本研究中的分层控制 结构 对于非结构化和不断变化的环境， 导航控制问题至关重要。 本研究是 针对视觉控制问题。 特别是 为此，提出了一种高速视觉跟踪方法 research. 一种使用二值图像的硬件结构 多个数据和处理路径的处理将是 研究了 通过这种方式，我们希望实现愿景 跟踪率，这将允许基于视觉的控制器， 可用于各种各样的移动的机器人。