计算机工程与应用2009，Vol.45Issue(31)：230-232,244,4.DOI:10.3778/j.issn.1002-8331.2009.31.069
基于广义预测控制的移动机器人视觉导航
Visual navigation of mobile robot based on generalized predictive control
摘要
Abstract
The visual navigation problem of mobile robot in indoor invironments is investigated.Firstly,scene image is obtained by monocular camera,then the image features are extracted by color information,at last the parameters of the path are calculated using the least squares method so that the image processsing is predigested and the real-time performance of the algorithm is enhanced.The pose of the robot is modified by eliminating the distance error and the angle error between the robot and the given path.To achieve real-time control and to eliminate the delay caused by machine vision identification and transmission,the improved generalized predictive control for multivariable system is adopted to predict the variety of control signal at the next period to modify the delay of the system.Simulation and experimental results demonstrate the validity of the proposed algorithm.关键词
移动机器人/视觉导航/多变量GPC/路径跟踪Key words
mobile robot/visual navigation/GPC for multivariable system/path following分类
信息技术与安全科学引用本文复制引用
傅瑶,张崇巍,鲍伟,徐玉华,汪木兰..基于广义预测控制的移动机器人视觉导航[J].计算机工程与应用,2009,45(31):230-232,244,4.基金项目
先进数控技术江苏省高校重点建设实验室基金资助项目(Jiangsu Province College Key Laboratory of Advanced Numerical Control Technology Foundation of China,No.KXJ07127). （Jiangsu Province College Key Laboratory of Advanced Numerical Control Technology Foundation of China,No.KXJ07127）
