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FOV Constraint Region Analysis and Path Planning for Mobile Robot with Observability to Multiple Feature Points | |
Ma HX(马洪轩)1,2; Zou W(邹伟)1,2; Sun SY(孙思洋)1,2; Zhu Z(朱政)1,2; Kang ZB(亢兆兵)1,2 | |
发表期刊 | International Journal of Control, Automation, and Systems |
2021 | |
卷号 | 无期号:无页码:无 |
摘要 | In visual servoing tasks, it is an important problem to maintain the observability to feature points on objects, which are usually used to calculate the pose between objects and robots. In particular, when the robot's vision has a limited field of view (FOV) and the points on objects are distributed separately, the problem is more serious. In this paper, based on FOV constraint region analysis and path planning, we propose a novel method for a mobile robot equipped with a pan-tilt camera to keep all points on objects in its view. According to the Horizontal-FOV and Vertical-FOV angular aperture of camera, bounding boxes assisting to calculate the regions with FOV constraint are acquired firstly. Then the region where the robot inside it cannot keep all points in its view can be obtained. Finally the mobile robot plans a shortest path from the current position to the destination, which can avoid the region with FOV constraint. The results of simulations and experiments prove that our method can make mobile robot keep all feature points in its view when it is moving. |
关键词 | the field-of-view, mobile robot multiple points path planning |
收录类别 | SCI |
语种 | 英语 |
七大方向——子方向分类 | 智能机器人 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44432 |
专题 | 中科院工业视觉智能装备工程实验室_精密感知与控制 |
通讯作者 | Zou W(邹伟) |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学,人工智能学院 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Ma HX,Zou W,Sun SY,et al. FOV Constraint Region Analysis and Path Planning for Mobile Robot with Observability to Multiple Feature Points[J]. International Journal of Control, Automation, and Systems,2021,无(无):无. |
APA | Ma HX,Zou W,Sun SY,Zhu Z,&Kang ZB.(2021).FOV Constraint Region Analysis and Path Planning for Mobile Robot with Observability to Multiple Feature Points.International Journal of Control, Automation, and Systems,无(无),无. |
MLA | Ma HX,et al."FOV Constraint Region Analysis and Path Planning for Mobile Robot with Observability to Multiple Feature Points".International Journal of Control, Automation, and Systems 无.无(2021):无. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
FOV Constraint Regio(3620KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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