1756-L65

1756-L65

1756-L65

近年来,对移动机器人的研究受到重视,特别是在工程探险、反恐防爆、军事侦察等领域,人们已经清楚地体会到地面移动机器人的优越性。移动机器人能够移动到预定目标,完成设定的操作任务,相应地对移动机器人系统也提出了更高的要求,特别是在机器人的自主性、作业能力等方面的要求越来越高[1]。目标跟踪是对于自主移动机器人是一项重要任务,监视和跟踪运动目标的运动或者保持对静态目标的瞄准[2]。绝大多数研究都使用单个计算机结合高质量的数码相机用于图像处理,尽管开源,但是这类系统价格不菲,体积庞大,而且耗能高。这类系统一般不灵活,不适合应用于小型移动机器人[3]。目前研究的视觉跟踪算法处理的对象都是包含巨大数据量的图像,这些算法往往需要大量的计算时间,很难达到实时处理的要求。

本文针对小型移动机器人视觉跟踪的设计要求,提出了一种简单而实用的视觉跟踪控制方法,使用一种低成本的嵌入式彩色视觉系统来瞄准静态目标,降低了系统功耗、提高了算法的实时性,并在一个具有4WS4WD和差分机构的移动机器人平台上运行得到充分验证。试验证明其视觉跟踪系统即使对于低分辨率的颜色图片,也能表现出鲁棒的目标跟踪行为。 

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BROWN BOVERI RECTIFIER UNIT YB161101-CG YB161-101-CG DS


MAZAK V-12 CNC VERTICAL PNEUMATIC TOOL CHANGING ARM CT 


SPINDLE BT40 BT-40 BT 40 CAT40 CAT 40 SPINDLE & BRACKET


JAPAX DX45NC EDM DRIVE S-2708C 33A-28 BOARD S2708C 33A2


SPINDLE HEAD UNIT BT40 BT 40 CINCINNATI ARROW 1000 ERO 


HARDINGE BROTHERS 2-179 E BOARD 2179E HARDINGE CHNC 1 L


FANUC MOTHERBOARD MAIN CONTROLLER A16B-1000-0140/07A C


CHARMILLE COMUA CB 94V-0 94V0 BOARD CT208152841C CB94V


OKUMA E0451-521-046 POWER SUPPLY E0451521046 OKUMA CADE


MACHINE CIRCUIT BOARD CT8132421A 851 4951 B CHARMILLE R


PARKER MPA-03-236 AMPLIFIER DRIVE SERVO MPA03236 FANUC 


EUCHNER Z1LC110PG-R SAFETY SWITCH Z1LC110PGR CINCINNATI


FIELD EXCITER 570-560-616 570-597-014 570597-618 SMT SW


CINCINNATI MILACRON ARROW 750 TOOL PODS CT40 CAT 40


84 MORI SEIKI SL3 CNC FANUC 6T MOTOR A860-0300-T001


FANUC AC SERVO MOTOR 0S A06B-0313-B203 W/ ENCODER A TAK


DRAW BAR SPINDLE ACTUATOR IKEGAI FX20N CNC LATHE


HITACHI BW021 A0 ISOIO A 682.119682 BOARD 682119682 HIT


CINCINNATI 3 542 1026A SACO BOARD 35421026A CINCINNATI 


WESTAMP M-135 SERVO MOTOR M135 190V


CMC CLEVELAND MOTION CONTROL C21CS0A12B00000 SERVO MOTO


23 TAKISAWA MAC V4 CNC VERTICAL MILL TOOL POD POT FING


JAPAX DX45NC EDM MASTER S-2997A T-280 BOARD S2997A T280


20 CINCINNATI ARROW 500 CNC VERTICAL MILL TOOL POD POT 


BOSCH SERVO MOTOR SD-B 3.031.030-01.000 D6120 303103001


COMPUTER PANEL 571-002-005 571002-609 SMT SWISS CNC


CHARMILLES 852281A BOARD 852277 CHARMILLES EDM 200


EN/CO/PI CIRCUIT BOARD 571-046-002 571 046 002 57104600


MAZATROL CAM M-2 20/50B YZ14B-2 MD2N N057-2106 PANEL


FANUC SERVO MOTOR AND PULSE CODER UNIT A860-0308-T011 2


FANUC AC SERVO MOTOR MODEL 30 W/ A860-0304-T011 2000P A


HITACHI BW023-A0 N-A/0 iSO i/O B 68E2.119307 BOARD HIT


ADC / INTERRUPT INTERFACE BOARD 571-048-008 571 048 008


INDRAMAT ENCODER ONLY 093A-0-LS-2-C/110-A-1 SN 090326 E


MAZAK VQC-20/40B MAZATROL CONTROL PANEL YZ14B-2 YZ14B 


JAPAX DX45NC EDM S-2720A 33A-28 MASTER BOARD S2720A 33


WIRE HEAD FEEDER PART HITACHI SEIKO H-CUT 3045 EDM HEAT


HITACHI BW027 B11 LCPU 68E2.120231 BOARD 68E2120231 HIT


MITSUBISHI DYNA ELECTRONICS MOTOR 40ZD4-45 BRAKE SUPPLY


JCB INDUCTION MOTOR 210971 MOTOR SPINDEL 210971 LONG CH


JAPAX DX45NC EDM SLAVE S-2997A T-281 CPU BOARD S2997A T


HITACHI WD101-R MCIFV 68E3.315038 BOARD 68E3315038 HITA


JAPAN SERVO BRUSHLESS SERVO MA-002 INTERFACE HITACHI SE


FANUC 6M CONTROL PANEL / MONITOR A61L-0001-0072 TR-9DK1


MITSUBISHI AC SERVO MOTOR HA100CB Z AXIS W/ TAMAGAWA EN


BW012 A1 N-A/1FDC 68E2.118831 BOARD 68E211883 HITACHI S


TOOL HOLDER POD POT CAROUSEL LOT 20 MATSUURA1988 RA-I P


KITAMURA MYCENTER2 2ND NACHI UNI MOTOR LTIS85-NR UNI PU


YASKAWA CPCR-IN01B CPCR-IN 01B-Y2 CPCR-1N 01B-Y2 CPCR-I


1994 MITSUBISHI EDM DWC 90SB FW20A-1 BOARD FW20A1 BY171


HURCO BMC-20 CNC VERTICAL MILL SPINDLE UNIT CT40 CAT 40


SERVO MOTOR S-650041 041 FANUC PULSE CODER UNIT A860-03


HARDINGE A 5/8 S16 C 6" CHUCK MIYANO KNC-35 CNC LATHE


HAWE OIL RESERVOIR HC 3/5.1-AX 14 E/140-VB 11 FM-GGGH 5


FANUC DC SERVO MOTOR M-589541 M 589541 KIWA EXCEL CENTE


MATSUURA 1983 MC500V2 SPINDLE UNIT BT 35 CAT 35


JAPAX DX45NC EDM S-2705B 33A-28 BOARD S2705B 33A28


MITSUBISHI DYNAMYTE AC SERVO MOTOR HA 40C-S W/ TAMAGAWA


YASKAWA SERVOPACK CACR-SR 20SB1BF DRIVE CACRSR MATSUURA


FANUC BOARD AXA-DRVII 68E2.120695 AXA-DRV 68E2.120695 H


FANUC A16B-0190-0061/26K BOARD A16B0190006126K AMADA DE


FANUC A06B-0642-B211 SERVO MOTOR 5M A06B0642B211 MIYANO


HITACHI BW007 A1 B11 DA1F SCHE DIA 68E2.116834 7 HITACH


FANUC A06B-1006-B908 SPINDLE MOTOR A06B1006B908 HITACHI


Fanuc AC Servo Motor 1-0 A06B-0522-B351 A290-0521-V581


TOYO ELECTRIC D-RL754 DRIVE AC MOTOR DRL754 FANUC MISC


HITACHI SEIKO EDM HCUT 203 EDM CNC COMPLETE DRIVE


FANUC SERVO MOTOR 10M A06B-0651-B095 A06B0651B095 CNC


CINCINNATI BDS4 210 23 415V23 POWER SUPPLY CINCINNATI A


FANUC BOARD A20B-0007-0010 A350-0007-T014 A20B00070010


MATSUURA MC-510VS CNC VERTICAL MILL TOOL HOLDERS POD BT


SPINDLE HEAD CAT 40 CAT40 CT40 CT 40 OKUMA CADET V CNC 


TOOL POD HOLDERS HOLSDTER 40 TAPER LOT OF 22 CAT40 CT4


MEMEX MX1000 BTR BOARD MATSUURA MINI MASTER MC500V


FANUC MOTHERBOARD MOTHER BOARD A16B-1010-0050 /05A TOYO

 
FANUC A16B-2201-0110 BOARD A16B22010110 STAR SR-20 CNC


FANUC A02B-0120-C043/TA CRT/MDI UNIT A02B0120C043 STAR 


SONY SR10-095A MAGNA SCALE SR10095A 42'' HITACHI SEIKI 

 
HYDRAULIC OIL TANK RESERVOIR W/ TOKYO KEIKI TDM-1022 PV

 
HITACHI WD006 N-A/0 SPLS 68E3.185563 68E3185563 D31169-


WIRE FEEDING UNIT HITACHI SEIKI EDM H-CUT304S PART


FANUC SPINDLE MOTOR 3 A06B-1003-B903 A06B1003B903 CNC


HARTFORD SPIII CNC VERTICAL MILL SPINDLE MOTOR


AUTOCLOK CHUCK 210 GH-FC 210 GH FC FROM TOYODA TYPE 32 


21 CAROUSEL HOLDERS CLAMPS CINCINNATI ARROW 500 ATC TOO


HITACHI SEIKI MACC MATIC CNC VERTICAL MILL SPINDLE UNIT


CONTROL TECHNIQUES R115MSA040200AG MOTOR R115MSA040200A


PART 1 STAR RNC-16 CNC LATHE P.2


FUJI ELECTRIC DC MOTOR GGN3168A SPINDLE MOTOR IKEGAI FX


MATSUURA MC710 CNC VERTICAL MILL CAT 40 BT 40 SPINDLE


YASKAWA AC SPINDLE MOTOR UAASKA-040A1 1500RPM MILLTRONI


HORYU CP-ES E CPES REV.7 SERVO DRIVE 60 AMPS CP-ESE


HORYU CP-ES H CPESREV.G SERVO DRIVE 15 AMPS CP-ESH


FINE SODICK HR-MOS-02B HRMOS02B POWER/CIRCUIT BOARD


YASNAC YASKAWA POWER SUPPLY CPS-300 CPS 300 CPS300


OKUMA ER-S-MA ENCODER ERSMA OKUMA LR-10 CNC 5TH P1


OKUMA LR-10 CNC E5406-770-002-3 OPPERATORS PANEL W/ E30


HORYU CP-ES H CPES REV.G Y AXIS SERVO DRIVE 15 A CP-ESH


HORYU CP-ES H REV.G Z AXIS SERVO DRIVE 15 AMPS CP-ESH Z


FANUC A16B-1211-0092 / 05C BOARD A16B12110092 GAMA PALL
 

CHUCK LEBLOND BARON 25 CNC LATHE 12" SMW CHUCK AND DRAW


YASKAWA UGHMED-03GG2KF CUP MOTOR UGHMED03GG2KF ACROMAX 


CINCINNATI 3-525-0978A MONITOR PANEL ACRAMATIC A850SX 3


GE FANUC A06B-0034-B075 AC SERVO MOTOR A06B0034B075 TOY


FANUC OS AC MOTOR A06B-0313-B003 PULSE CODER A860-0304-


FANUC DC SERVO MOTOR MODEL 10M 517266 KIWA EXCEL CENTE


OKUMA LC10/LR10 OMRON SPINDLE DRIVE DOUBLE CONVERTER SD


TDK PD17B POWER UNIT LEADWELL MCV-1000E


INDUSTRIAL DRIVES AC SERVO DRIVE PSR4/5-220 PSR45220


BROWN BOVERI BOARD MODULE DSSR115 2668 180 550/2 ASEA R