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Alternative TitleThe Contingency Planning of Chameleon-Inspired Visual Contamination for Wheeled Mobile Robot Based on Case-Based-Reasoning
徐燕; 徐贺; 于洪鹏; 张春伟; 王志乾
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20183705807288
Contribution Rank2
Funding Organization高等学校博士学科点专项科研基金(20122304110014)
Keyword偶然性规划 视觉受污 仿变色龙 轮式移动机器人 案例推理


Other Abstract

To effectively cope with the unexpected event of visual contamination of mobile robots, a contingency planning approach is proposed based on case-based reasoning (CBR). Firstly, a wheeled mobile robot (WMR) equipped with the chameleon-inspired visual system is described, and the negative-correlation mechanism of binocular movement is analyzed. In order to realize the detection of static contaminants in dynamic scene, an improved contaminant extraction algorithm is proposed, which combines the frame difference method and the background difference method. Then, an environment perception model with chameleon-inspired visual contamination for WMR is built through the analysis of environment perception when visual contamination occurs. A CBR-based contingency planning model of visual contamination is established, and the reasoning process of CBR for visual contamination is analyzed in detail. Finally, a contingency planning experiment for visual contamination is designed based on the robot general planning of target tracking, and the experimental results show that the tracking error is basically between ±15 pixels, which demonstrates that the tracking effect is better under the condition of visual contamination.

Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author徐贺
Recommended Citation
GB/T 7714
徐燕,徐贺,于洪鹏,等. 基于案例推理的轮式移动机器人仿变色龙视觉受污偶然性规划[J]. 机器人,2018,40(3):282-293.
APA 徐燕,徐贺,于洪鹏,张春伟,&王志乾.(2018).基于案例推理的轮式移动机器人仿变色龙视觉受污偶然性规划.机器人,40(3),282-293.
MLA 徐燕,et al."基于案例推理的轮式移动机器人仿变色龙视觉受污偶然性规划".机器人 40.3(2018):282-293.
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