用於多移動機器人協同控制之視覺相對定位系統

Vision-based Relative Positioning System for Cooperative Control of Multiple Mobile Robots

王俊勝

《機械工業雜誌》 449期 (2020/08) Pp. 54-61

摘要

為增加工廠自動化使用彈性，多移動機器人協同作業已成發展趨勢。提升機器人間相對定位精度是開發協同控制技術的第一步。本文闡述一套低成本且可快速實現於多移動機器人間之相對定位系統，以快速響應矩陣圖碼作為識別標誌，透過視覺感測器偵測此標誌開發高精度之定位演算法。我們設計了一測試平台以量化驗證演算法估測識別標誌之二維座標準確度與精密度。

關鍵字

視覺相對定位系統 ； 多移動機器人 ； 快速響應矩陣圖碼偵測

並列摘要

Multiple mobile robots working together to achieve flexible factory automation has become a future trend. Improving the relative positioning accuracy between mobile robots is the first step to develop cooperative control of multiple mobile robots. This article proposes a low-cost relative positioning system that can be quickly implemented for multiple mobile robots based on Quick Response Code (QR-Code) landmarks and a high-precision vision-based detection algorithm. We designed a test platform to quantitatively verify the accuracy and precision of the proposed algorithm to estimate 2D position from a QR-code landmark.

並列關鍵字

Vision-based relative positioning system ； Multiple mobile robots ； Quick response code detection