The Research Of Multi-Robot Coordination Control Based On Vision

As the development of science & technology and the increasing quality of human lives, the applications of robot become more and more popular in different fields, so how to control the robot get to be more critical. Currently, the robot who have visual function and multi- coordination is a focus subject to research. This paper based on the carrier who develop the program for Chinese chess, research the dual-robot coordination and machine vision , develop a Chinese chess system with visual dual-robot coordination function, promotes a method of dual-robot coordination and improves the approach of BP neural network.The main research work is as follows:1,Research on Chinese chess algorithm. Studying the design of chess data structure , searching algorithm, evaluation function, etc. Develop chess program based on VC. Propose a method of extraction coordinates of chess pieces.2,Research on image procession and feature extraction. The common used methods of image acquisition, processing and feature extraction are introduced. Propose the way of circular path based on the depth search method to extract the hole-feature in the character.3,Research on the pieces identification. The theory of the BP neural network is introduced. Propose a modified BP neural network algorithm.4,Research on the technology of chess location. Study the relationship among various coordinate systems. Propose a suit of this article approach for chess location. The location experiment and error analysis were also done in this paper.5,Research on the control of dual-robot coordination. In the paper, the common used strategies how to control the multi-robot coordination were introduced. Propose a new control strategy of master-symmetrical to control the dual-robot coordination. Design a system of three-level control architecture for the dual-robot coordination.6,Research on the collision detection. The collision detection problem and the common solutions were introduced in this paper. Propose an improved solution and verify it by experiments.7,Research on the control of the robot's movement for playing chess. Decompose the process of robot playing chess. Through the rational design of the control program, achieve the high-call of up to hundreds of control programs.8,The chess system of dual-robot coordination based on vision. With the visual and the control strategy of dual-robot coordination, build the system about robots play chess and achieve the function of the dual robots automatic to "lay the chesses" and "play the chess".