Research And Realization Of Motion Control Of Monocular Mobile Robot

With the development of Computer Vision and Artificial Intelligence,some related technologies and applications such as computer image recognition have been applied to every work of life.By using monocular camera as sensor input combined with hardware of mobile robot,it can achieve the control behavior of mobile robot.In this paper,the control behavior includes target based tracking behavior and trajectory based tracking behavior.The achievements are summarized as following:Based on the traditional monocular image tracking algorithm and control theory,a new image based motion control algorithm is introduced to slove the target tracking problem of monocular based mobile robot.This algorithm combines a robust image tracking algorithm with a traditional mobile robot control theory to realized the target tracking behavior.With the image input and odometry input of mobile robot,a Visual-Inertial Navigation System is come up to realize the accurate trajectory record of mobile robot.Based on the trajectory,another motion control algorithm is adopted for the trajectory tracking.Finally,all these related functions are transplanted to the motion robot platform with realization of each module.Compared with traditional control behavior,the new system is much more accurate and robust.