Contingency Planning of Visual Contamination for Wheeled Mobile Robots with Chameleon-Inspired Visual System

To enable mobile robots to effectively deal with the emergency of visual contamination, contingency planning based on case-based reasoning (CBR) was performed in this paper. First, for a wheeled mobile robot (WMR) equipped with a chameleon-inspired visual system, a target search model in chameleon-inspired binocular negative correlation movement (CIBNCM) mode was established. Second, a CBR-based contingency planning model of visual contamination for WMRs was established, where the reasoning process using CBR for visual contamination was analyzed in detail. Third, through the analysis of environment perception when visual contamination occurs, a perception model in chameleon-inspired visual contamination for WMRs was built. Finally, to validate the proposed approach, a contingency planning experiment scheme for visual contamination was designed based on the robot's general planning of target tracking, and the experimental result is discussed. The proposed CBR-based contingency planning approach for visual contamination can reason out effective solutions corresponding to the contamination situations. The rationality of the approach was verified by experiments with satisfactory results. Moreover, compared with the contingency planning method based on rule-based reasoning, the accuracy of target retracking after the robot visual system is contaminated is significantly higher for the CBR-based contingent planning method used in this paper.