智能脱冰机器人的目标定位方法基于非线性自动干扰排斥神经网络
1College of Modern Science and Technology, China Jiliang University, Hangzhou, 310018, Zhejiang, China.
Heliyon
|May 6, 2024
概括
本研究介绍了用于脱冰机器人的视觉导航系统,提高了复杂环境中的实时性能和准确性. 这种新方法可以为机器人提供更快,更精确的导航和任务执行.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 人工智能的人工智能
背景情况:
- 传统的同时定位和映射 (SLAM) 系统面临的挑战是多次代,长时间的计算时间,以及脱冰机器人的实时性能差.
- 现有的系统在与非线性优化作斗争,阻碍了在动态环境中的高效导航.
研究的目的:
- 为间歇性行走脱冰机器人设计和实施有效的视觉导航方案.
- 通过提高实时性能和准确性来克服现有的SLAM系统的局限性.
- 开发一个强大的视觉伺服控制方案,用于机器人任务操作,未知系统校准和目标深度.
主要方法:
- 设计了一种视觉导航系统,包括计算机图像采集单元,图像处理模块和视觉导航参数提取算法.
- 实施了用于机器人任务操作的视觉伺服控制方案.
- 通过机器人视觉系统校准,实现了摄像头像素坐标和机器人基地坐标之间的坐标转换.
主要成果:
- 拟议的方法可以在模拟和实验中快速准确地识别异常点云.
- 实现了每秒53.65的高传输率.
- 证明了最大的空间定位精度误差为10.6毫米,机器人端效应器运动稳定,抓取精度高.
结论:
- 开发的视觉导航系统满足了除冰机器人的导航要求,提供了更好的速度和精度.
- 视觉伺服控制方案确保了机器人的稳定和准确的运动,这对于抓取和定位等复杂任务至关重要.
- 这种方法提高了脱冰机器人的实时性能和准确性,使它们在操作环境中更有效.
相关概念视频
01:26PD Controller: Design
222
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
222
01:19PID Controller
115
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
115
01:24PI Controller: Design
250
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
250