计算机工程 ›› 2008, Vol. 34 ›› Issue (4): 220-22.doi: 10.3969/j.issn.1000-3428.2008.04.078

• 人工智能及识别技术 • 上一篇    下一篇

基于主动视觉和超声的机器人目标跟踪系统

赵海文1,2,岳 宏1,3,杜春红1,蔡鹤皋2   

  1. (1. 河北工业大学机械工程学院,天津 300130;2. 哈尔滨工业大学机器人研究所,哈尔滨 150001;3. 中国科学院沈阳自动化研究所机器人学重点实验室,沈阳 110015)
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2008-02-20 发布日期:2008-02-20

Robot Object Tracking System Based on Active Vision and Ultrasonic Information

ZHAO Hai-wen1,2, YUE Hong1,3, DU Chun-hong1, CAI He-gao2   

  1. (1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130; 2. Robot Research Institute, Harbin Institute of Technology, Harbin 150001; 3. Key Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110015)
  • Received:1900-01-01 Revised:1900-01-01 Online:2008-02-20 Published:2008-02-20

摘要: 运动目标跟踪技术是未知环境下移动机器人研究领域的一个重要研究方向。该文提出了一种基于主动视觉和超声信息的移动机器人运动目标跟踪设计方法,利用一台SONY EV-D31彩色摄像机、自主研制的摄像机控制模块、图像采集与处理单元等构建了主动视觉系统。移动机器人采用了基于行为的分布式控制体系结构,利用主动视觉锁定运动目标,通过超声系统感知外部环境信息,能在未知的、动态的、非结构化复杂环境中可靠地跟踪运动目标。实验表明机器人具有较高的鲁棒性,运动目标跟踪系统运行可靠。

关键词: 运动目标跟踪, 主动视觉, 超声, 移动机器人, 基于行为分布式控制

Abstract: Moving object tracking technique is important in the field of mobile robots under unknown environments. A design method of mobile robot moving object tracking based on active vision and ultrasonic information is put forward. The system consist of a SONY EV-D31 color video camera, a self-made camera control module, image acquisition and processing units, etc. The mobile robot adopts behavior-based distributed control architecture. In an unknown, dynamic and the unstructured environment, the robot can reliably track the moving object with the active vision system to gaze at the moving object and ultrasonic ranging system to sense its outer environment. Experiments show the robot possesses high robustness and the moving object tracking system runs reliably.

Key words: moving object tracking, active vision, ultrasonic, mobile robot, behavior-based distributed control

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