基于无线通信的移动机器人视觉镇定控制

Vision Stabilization Control of Mobile Robot Based on Wireless Communication

摘要: 该文基于无线传输技术，针对目标特征模型未知的情况，设计了一种轮式移动机器人动态场景中视觉镇定控制方案。首先建立了移动机器人视觉伺服系统坐标系，然后对特征点移动前后两期望坐标系和监视摄像机坐标系间的变换关系进行了分析与计算。通过XBee-Pro无线通信模块进行特征点信息传输，通过仿真和实验结果表明，该方案可以成功驱使移动机器人到达目标位姿处。

Abstract: Based on wireless transmission technology, this paper designs a scheme for visual stabilization control of a wheeled mobile robot in a dynamic scene in response to an unknown target feature model. First, the coordinate system of the mobile robot’s visual servo system was established, and then the transformation relationship between the two desired coordinate systems before and after the feature point movement and the surveillance camera coordinate system was analyzed and calculated. The XBee-Pro wireless communication module is used to transmit feature point information. Simulation and experimental results show that the scheme can successfully drive the mobile robot to the target pose.