常州大学学报（自然科学版）2011，Vol.23Issue(3)：41-46,6.
配置机械手的轮式移动机器人目标物体跟踪与抓取
Target Object Tracking and Grasping of Wheeled Mobile Robot Equipped with the Manipulator
摘要
Abstract
For the problem of target object recognition, tracking and grabbing of wheeled mobile robot e-quipped with the manipulator, this paper adopted a object recognition and robot localization method , also used a wheeled mobile robot visual servo tracking control method based on fuzzy control. For the process of robot target tracking and grabbing, which is influenced by environmental change, the image processing method of HIS color model and the threshold-based segmentation are used so that the robot can rapidly recognize the target color object. According to the robot target positioning method based on the PTZ camera's angle information and fuzzy control theory, a fuzzy controller is designed to output the appropriate line speed and angle velocity, and realize the robot tracking target. At the same time the robot moves closely to the target object and grabs it. Simulation and real-time experimental results show that the designed system has a good ability to recognize, track and grab the target object accurately.关键词
轮式自主移动机器人/目标识别/云台摄像机/模糊控制/目标抓取Key words
wheeled mobile robot/ target recognition/ PTZ camera/ fuzzy control/ target grabbing分类
信息技术与安全科学引用本文复制引用
张和平,段锁林,姜小娟..配置机械手的轮式移动机器人目标物体跟踪与抓取[J].常州大学学报（自然科学版）,2011,23(3):41-46,6.基金项目
哈尔滨工业大学机器人技术与系统国家重点实验室开放基金重点项目支持(SKLRS-2010-2D-09) （SKLRS-2010-2D-09）
