基于全方位视觉跟踪的机器人轮椅的研究

项目名称： 基于全方位视觉跟踪的机器人轮椅的研究

项目编号： No.61262059

项目类型： 地区科学基金项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 袁亮

作者单位： 新疆大学

项目金额： 46万元

中文摘要： 本项目研究是开发全方位的视觉跟踪系统，并通过全局视觉反馈控制来提升机器人轮椅的可靠，安全运行.研究内容包括：（1）多摄像头的最优化布局。就是用最少数量的视频摄像头覆盖整个工作环境。（2）全方位视觉环境下的机器人轮椅实时跟踪。根据机器人轮椅上标示的颜色或几何特征，实时跟踪机器人的位置和姿态。（3）全方位视觉环境下的机器人轮椅视觉反馈控制。在实时跟踪的基础上，实现机器人位置和姿态的反馈控制。控制的目的是要使机器人轮椅运动在全局规划的最优路径上。（4）远程监视和遥感控制。医护人员或轮椅使用者的监护人可以远程监视轮椅的运行状态，并能实现远程遥感控制操作。本项目利用现有的成熟技术和设备如视频跟踪，网络通讯与控制等，这样使得本项目实施的可行性更高。

中文关键词： 全方位视觉跟踪系统；视觉反馈控制；遥感控制；机器人轮椅；

英文摘要： The objective of the proposed research is to develop a new Robotic Wheelchair System which makes use of the Ubiquitous Visual Sensor Systems (UVSS), currently under rapid deployment, and the maturing Internet and wireless communication technologies. The proposed innovative RWS departs completely from the conventional approaches of autonomous robots which rely on on-board sensors to map locally their environment for navigating progressively and autonomously. Instead, the proposed RWS makes use of an innovative global monitor and control system empowered by UVSS, Internet, and wireless communications in combination with the on-board wheelchair sensors and control. In the proposed RWS the robotic wheelchairs will be controlled anywhere within the operational environment by both the global wheelchair monitoring system and by the wheelchair on-board autonomous systems. The purpose of the on-board autonomous systems is to detect the obstacles in the neighborhood of the wheelchair and to enable its autonomous navigation when the global control from RWS is not available due to delays and packets dropouts in the communication channel.???? To bring the proposed new robotic wheelchair system into reality, the proposed project will address key technical issues with the specific objectives as described below: o Determine th

英文关键词： The ubiquitous visual tracking system；Visual feedback control；Remote control；Robot wheelchair；