Mobile robot visual homing by vector pre-assigned mechanism

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Mobile robot visual homing by vector pre-assigned mechanism

机译：移动机器人通过矢量预先分配机制归巢

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In this paper,we present an optimization mechanism for two popular landmark-based mobile robot visual homing algorithms(ALV and HiSS),called vector pre-assigned mechanism(VPM).VPM contains two branches,both of which can promote the homing performance effectively.In addition,to make the landmark distribution satisfy the equal distance assumption,a landmark optimization strategy is proposed based on imaging principle of the panoramic vision.Experiments on both panoramic image database and a real mobile robot have confirmed the effectiveness of the proposed methods.

机译：在本文中，我们为两个流行的基于地标的移动机器人的可视归位归巢算法（ALV和HISS）提供了一种优化机制，称为矢量预先分配机制（VPM）.vpm包含两个分支，两者都可以有效地促进归位性能加法，为了使地标分布满足相等的距离假设，基于全景视觉的成像原理提出了一个地标优化策略。全景图像数据库和实际移动机器人的实验证实了所提出的方法的有效性。

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《Bulletin of the Polish Academy of Sciences. Technical Sciences》 |2019年第2期|共16页
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正文语种 eng
中图分类一般工业技术;年鉴、年刊;
关键词
robot navigation; visual homing; panoramic vision; ALV; HiSS;

机译：机器人导航;视觉归巢;全景愿景;ALV;嘶嘶声;

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专利

1. Mobile robot visual homing by vector pre-assigned mechanism [J] . Bulletin of the Polish Academy of Sciences. Technical Sciences . 2019,第2期

机译：移动机器人通过矢量预先分配机制归巢
2. Probabilistic Approach for Visual Homing of a Mobile Robot in the Presence of Dynamic Obstacles [J] . Anupa Sabnis, Arunkumar G. K., Vikranth Dwaracherla, IEEE Transactions on Industrial Electronics . 2016,第9期

机译：存在动态障碍物的移动机器人视觉归位的概率方法
3. Visual correction for mobile robot homing [J] . C. Sagues, J. J. Guerrero Robotics and Autonomous Systems . 2005,第1期

机译：移动机器人归位的视觉校正
4. Visual homing for a mobile robot using direction votes from flow vectors [C] . Stewart Robert L., Mills Michael, Zhang Hong 2012 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems. . 2012

机译：使用来自流向量的方向投票对移动机器人进行视觉归位
5. Mobile Robot Homing Control Based on Odor Sensing. [D] . Craver, Matthew David. 2014

机译：基于气味感应的移动机器人归巢控制。
6. Three Landmark Optimization Strategies for Mobile Robot Visual Homing [O] . Xun Ji, Qidan Zhu, Junda Ma, 2018

机译：移动机器人视觉归位的三种地标优化策略
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。

Mobile robot visual homing by vector pre-assigned mechanism

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