Research on the intellectual control of the plural mobile robots using image measurement methods and its application

在研究期间可以获得以下研究成果：建立了远距离高精度位置测量系统，对减小量化误差对位置测量影响的方法进行了实验研究。特别地，加速可以通过使用多个摄像头来实现。该方法可应用于一般的位置测量，如智能交通系统。提出了一种基于光束的移动机器人导航方法，并对该方法的精度和灵活性进行了验证，结果表明该方法具有较好的导航效果。该方法具有子机器人导航稳定、结构简单等优点。考虑子机器人的运行特性，设计了子机器人的运行路线。通过多个子机器人的实验验证了所提方法的有效性。提出了一种基于协作任务的通用对象承载方法，并对基于协作任务的通用对象承载方法进行了测试，验证了该方法的有效性。该系统通过各子机器人的协同任务，能够搬运沉重的课桌等，从而实现全自动房间清洁系统。研究了利用局部视觉信息（颜色信息、图案等）区分目标与障碍物的方法。提出了路径教学法。

The following research results could be obtained in the research period.1. The establishment of the position measuring of long-distance and high precisionAn experimental examination was carried out about the method of decreasing the influences of the quantization error on the position measurement. Specially, speed-up could be realized by using several cameras. This method can be applied to the general position measurements, such as intelligent transport system.2. The proposal of the navigation method of mobile robot by beams of lightThe precision and flexibility of the proposed navigation method that used beams of light projected from the main robot were examined, and satisfactory effect could be proved. This method has the merits that the navigation of the sub robot is stable and the structure of the sub robot is simple. Considering the running chrematistics of the sub robot, the routes of the sub robot were designed. The validity of the proposal method could be confirmed by the experiments which plural sub robots were used for.The proposal of the general-purpose carriage method by the cooperation tasksGeneral-purpose object carriage by the cooperative tasks was tested, and it succeeded in verifying that validity. This system is thought to be able to carry the heavy desk and so on by cooperative tasks of sub robots, in order to realize the full automatic room cleaning system.The proposal of the distinction method of targets and the path teaching methodThe distinction method of targets and obstacles was investigated using the local visual information (color information, patterns, etc.). And the path teaching method was proposed.