Research On Behavior Control Technique Of Robot Based Active Visual

Following the developing of robot to intelligentized direction, the research on control method of robot has been become the focus to research. In these research, the primary method is the method that different to the traditional control method. Add the informatio n of visual, ultrasonic and infrared sensors to robot control, robots has had the ability si milar to people increasingly.This paper from the research that supported by the prefect of the Shenyang Institute ofAutomation (SIA) of the Chinese Academy of Science (CAS)--"Research on Robot behaviorcontrol based vision perception " (No. RL200202). This paper has accomplished part work of it, include: the research on the behavior based control method, the visual technique of robot and the application of active vision on behavior based robot .The main work and innovative ideas include:On the base of technique analyze of behavior based robot, a behavior system structure of RIRA-ROBOT behavior-based robot and a behavior coordinator by combine the fuzzy logic control with multiple objectives propriety- based decision have designed, the ability of competence in multiple behavior and no collision within the intercurrent behavior have enhanced.A visual device with the function of pitching and tilt and a control system to camera with the function to adjust the aperture and focus in time have designed as well as a processor of image to capture, process and matching have been also designed.Utilized the HSV color model and mathematical morphology segmented and enhanced the image behavior color infor. This method has the vast infor. and robustly confront with the disturbance of external environment ,eg. illumination etc. It has simplify the abstraction of image character and assured the quality of image processing. Used the head four moments of the moment invariant arithmetic to do image matching, didn't debased the precision but enhanced the speed of matching, about 0.7s of one image.This method that combined the fuzzy logic control with multiple objectives propriety- based decision and the method of image processing, object identify to RIRA-ROBOT based-behavior robot have been successfully applied.