Vision-based Waypoints Tracking Control for an Amphibious Spherical Robot

被引：0

作者：

Hu, Yao ^{[1
,2
]}

Shi, Liwei ^{[1
,2
]}

Guo, Shuxiang ^{[1
,2
,3
]}

Xing, Huiming ^{[1
,2
]}

Hou, Xihuan ^{[1
,2
]}

Liu, Yu ^{[1
,2
]}

Liu, Huikang ^{[1
,2
]}

Xia, Debin ^{[1
,2
]}

Li, Zan ^{[1
,2
]}

机构：

[1] Beijing Inst Technol, Key Lab Convergence Med Engn Syst & Healthcare Te, Minist Ind & Informat Technol, Sch Life Sci, 5 Zhongguancun South St, Beijing 100081, Peoples R China

[2] Beijing Inst Technol, Minist Educ, Key Lab Biomimet Robots & Syst, 5 Zhongguancun South St, Beijing 100081, Peoples R China

[3] Kagawa Univ, Fac Engn, 2217-20 Hayashi Cho, Takamatsu, Kagawa, Japan

来源：

2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) | 2019年

基金：

中国国家自然科学基金;

关键词：

Amphibious Spherical Robot; waypoint tracking; Computer Vision; KALMAN FILTER; SYSTEM;

D O I：

10.1109/icma.2019.8816304

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The localization plays an important role in the motion control and trajectory tracking of amphibious spherical robot. However, due to the complex environment in the water, some methods localization on land such as GPS cannot be applied to amphibious spherical robot. Therefore, a new method is needed to locate the amphibious spherical robot. This paper proposes an image recognition method using a global camera to locate the robot. In this method, the global camera is mounted on a platform with a known position, and the computer vision algorithm is used to identify the position of the amphibious spherical robot in the image, then calculate the coordinates and moving speed of the amphibious spherical robot. We applied this method to an amphibious spherical robot and verified it experimentally. In the experiment, the amphibious spherical robot can swim along the set rectangular trajectory by using this localization method, indicating that this localization method is effective.

引用

页码：2440 / 2444

页数：5

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