Low DOF visual searching and approaching strategy for mobile manipulator
Aiming at the problem of target searching in unknown environment,a low degree-of-freedom visual searching and approaching strategy of mobile manipulator was proposed.The combined visual space of the two joints of the manipulator was studied,and a search strategy was given to obtain the rough position of the target.Then two-joint angles were derived from the geometry relationship to make the target in the center of the field of vision.When accurate target positioning was obtained,the coordinated movement of the car with arm was realized to move towards the target,while the target was always located in the center of the field of vision,so as to obtain better tracking accuracy.The research showed that this method could achieve the target searching and tracking with two degrees of freedom.The controller design is simple and the positioning efficiency is high,which is suitable for engineering applications.
low degree of freedomvisual searching and approachingrough searchaccurate positioningcoordinated movement of car with arm
NETL
NSTL
万方数据
维普
