Automatic Target Positioning of Bomb-disposal Robot Based on Binocular Stereo Vision

摘要：

Automatic target positioning is necessary for a bomb-disposal robot to perform the duty of disposing a perilous object. We proposed the design of a bomb-disposal robot based on binocular stereo vision which can achieve the state-of-the-art of automatic target positioning with high accuracy. In the intelligent robot system, the three dimensional coordinate of the perilous target is acquired using the binocular stereo vision technique, then the manipulator will be planned and controlled to reach the target according to the acquired three dimensional coordinate. To implement the design, the whole robot system can be decomposed into binocular stereo vision subsystem, and embedded motion control subsystem. The experiment result shows a satisfying level of accuracy in performing the task of automatic target positioning.

关键词： Binocular stereo vision Motion planning Manipulator Target positioning

作者: Hengnian Qi Wei Wang Liangzhong Jiang Luqiao Fan

作者单位: School of Mechanical Engineering, South China University of Technology, Guangzhou 510641, P. R. Chin College of Automation, South China University of Technology, Guangzhou 510641, P. R. China School of Mechanical Engineering, South China University of Technology, Guangzhou 510641, P. R. Chin

会议类型: 国际会议

会议名称: The 2007 International Conference on Intelligent Systems and Knowledge Engineering(第二届智能系统与知识工程国际会议)

会议地点: 成都

会议语种:英文

页码: 1078-1082

在线出版日期: 2007-10-15（万方平台首次上网日期，不代表论文的发表时间）