摘要
利用微软的Kinect传感器获得跟随目标的坐标信息包括深度信息后,在上位机上进行数据处理,计算机器人本体与跟随目标的相对位置,发送控制指令到下位机,通过这样的方式实现本体对设定目标的运动跟随。在进行跟踪的同时从深度图像中判断是否存在障碍物,使用改进的人工势场法进行路径规划,以达到在有障碍的同时顺利完成跟踪的目标的目的。通过设计机器人本体进行实验,获得了预期效果。
First,coordinate information including depth information is calculated from image got by Kinect,and then the upper computer starts to process with these data,also send AT commands to the lower computer.To complete following a setting goal,such a way is been used.The robot judges from the depth image to determine whether there is an obstacle when the robot is tracing a goal.Also a kind of evolution artificial potential field is used for the robots to plan path.Then the robot can trace the setting goals smoothly.The robot body is designed to do experiment,and the result has got up to expect.
作者
李飞龙
王宇俊
谭艳
葛耿育
LI Fei-long,WANG Yu-jun,TAN Yan,GE Geng-yu（Faculty of computer and information science Southwest University,Chongqing 400715,China）
出处
《电脑知识与技术》
2013年第5期3125-3128,共4页
Computer Knowledge and Technology
关键词
KINECT
人工势场
自主跟随
避障
骨架
kinect
artificial potential field
automatically following
obstacle avoidance
skeleton
