植基於線上校準視覺式智慧型空間之機器人導航與控制

Navigation and Control of Autonomous Mobile Robots in an On-Line Calibrated Visual Intelligent Space

朱炳榮(Ping-Rung Chu)

指導教授 ： 張文中

國立臺北科技大學/電資學院/電機工程系研究所/碩士(2010年)

摘要

本論文提出一種新式即時校準系統，校準移動式機器人與視覺式智慧型空間的相對關係，並於智慧型空間下控制與導航移動式機器人。本論文利用多台相對關係未知的空間攝影機作為智慧型空間的感測元件以觀察機器人上所安置的特徵點並找出其在影像上的位置，再結合機器人在現實空間的位置資訊並代入所設計的新式即時校準系統以更新移動式機器人與當前空間攝影機的相對關係，並搜尋空間攝影機在環境中可視範圍重疊之區域以求得其相對關係。本論文所提出的架構已藉由移動式機器人Dr Robot x80於多台IP 攝影機構成的智慧型空間中成功驗證此系統。

關鍵字

移動式機器人 ； 機器人導航 ； 即時校準 ； 粒子濾波器 ； 視覺伺服

並列摘要

This paper presents a seemingly novel approach to accomplishing mobile robot localization and navigation in a large unknown workspace with a set of vision sensors based on an effective on-line calibration strategy. Each adjacent Internet protocol (IP) camera pair for visual sensing is assumed to have an overlapping field of view, but the positions as well as orientations with respect to either the Cartesian space or the mobile robot are unknown. The idea is to control the mobile robot to actively perform calibration with any stationary IP camera that can observe the five pre-selected color-coded features onboard the mobile robot, and thus establish coordinate transformations among these IP cameras. In particular, the coordinate transformation from the mobile robot to the IP camera is recursively updated based on all observed data and the kinematic model of the mobile robot. The proposed system only requires a PC and a network of stationary IP cameras without performing any off-line calibration procedure.

並列關鍵字

Mobile Robot ； Navigation ； Real-time Calibration ； Particle Filter ； Visual

參考文獻

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