多传感器信息融合伺服的移动机器人快速跟随
周霞;何建忠;王宝磊
【期刊名称】《计算机工程与设计》 【年(卷),期】2013(034)006
【摘要】针对移动机器人快速跟随任务的需要,采取了多传感器信息融合的伺服控制,用双目摄像机对移动机器人进行视觉导航,利用激光雷达和超声波传感器完成移动机器人的避障设计,通过位于机器人轮部的光电编码器反馈信息处理实现机器人的自定位,语音交互和手势交互共同完成移动机器人的人机交互,制定了移动机器人快速跟随整体策略并提出了软硬件系统集成方案.在实验环境中通过实验和实践表明了移动机器人能够快速顺利的完成跟随任务.%For mobile robot with the needs of the rapid task,multi-sensor information fusion of servo control is taken.Mobile robot visual navigation is finished with binocular camera and the mobile robot obstacle avoidance design is completed by using the laser radar and the ultrasonic sensor.The robot self-localization is realized by the feedback information processing of photoelectric encoder located in the robot round.The mobile robot human-computer interaction is finished by the voice interactive system and gesture-based interaction system together.Fast follow overall strategy of mobile robot is made and the integrated solutions of the hardware and software system is put forward.In the experimental environment,through the experiment and practice,it proves that the mobile robot can finish the following task quickly and smoothly.
多传感器信息融合伺服的移动机器人快速跟随
