Research on control systems of autonomous robot based on image information

本文的主要研究成果如下：1.“参数估计”为了对基于CCD摄像机的移动机器人进行视觉反馈控制，提出了一种综合了反馈控制理论和基于电机参数的透视系统理论的视觉反馈控制新方法。2.视觉反馈算法的发展在此基础上，提出了最优视觉反馈控制算法。3.移动机器人轨迹算法的发展研究了动态样条理论在机器人轨迹规划中的应用。然后，所使用的动态样条线是周期性的，是通过对控制数据和初始数据进行优化而获得的。4.视觉反馈控制系统的构建我们研制了一种基于激光测距仪和CCD摄像机的观测装置，代替了对移动机器人的控制。在此基础上，分别提出了目标识别和跟踪控制的新方法。对于跟踪控制，用扩展卡尔曼滤波构造了PID控制，实现了系统的无时滞控制。

Research results are summarized as follows :1."Parameter Estimation"In order to do the visual feedback control to the mobile robot amounted on a CCD camera, we considered new method which is included both the feedback control theory and the perspective system theory by using motor parameters.2."Development of Algorithm of Visual Feedback"The image-processing technique for performing the visual feedback control was considered. Then, we developed the optimal visual feedback control algorithm.3."Development of Algorithm of Mobile Robot's Orbit"The theory of dynamic splines to make the orbit of robot was considered. Then, the dynamic splines that are used are periodic and are obtained by optimizing over both control and initial data. Based on the dynamic splines, we considered the system which can recognize the environment of robot.4."Construct of the control systems of visual feedback"We developed an observation device amounted on a laser range finder and a CCD camera, instead of the mobile robot's control. Then, we proposed new method for the object recognition and the tracking control, respectively. For the tracking control, we constructed PID control with an extended Kalman filter to realize control system without time delay.