Abstract
Aiming at object grasping of indoor mobile robots, this paper develops an object localization system based on the fusion of a monocular camera and a two-axis-controlled laser ranging sensor. The system can locate the specified object in space without obtaining the background depth information of the object, which reduces the consumption of computational resources and has a low cost. According to the coordinate mapping of the object in the image, the measurement point of the laser ranging sensor is controlled to coincide with the target point by two servo motors in perpendicular axes. Thus, the spatial location of the target point can be determined from the rotation angles of the cradle head motors and the laser-measured distance together. To accurately control the rotation angles, a compound strategy combining feedback and feedforward is proposed. On the one hand, the feedback of the laser measurement point is introduced in the image coordinate to realize the close-loop control of the measurement point. On the other hand, a feedforward compensator based on disturbance observation is designed to reduce the influence of robot motion. An experimental setup is developed and substantial experiments are implemented to evaluate the performance of the proposed system. The results show that object localization can be effectively achieved with good accuracy and dynamic response.
Highlights
Mobile robots can serve human beings in daily life and replace human beings to engage in dangerous and harsh work [1]–[3]
The contribution of this work is summarized as follows: 1) An object localization method based on fusion of monocular camera and two-axis-controlled laser ranging sensor is proposed, and the working principle of the method is described in detail; 2) A prototype is designed and assembled according to the object localization method; and 3) To realize the effective object localization of the mobile robot, VOLUME 9, 2021 a compound control strategy combining feedback and feedforward is developed
In this paper, an object localization method based on fusion of a monocular camera and a two-axis-controlled laser ranging sensor is developed
Summary
Mobile robots can serve human beings in daily life and replace human beings to engage in dangerous and harsh work [1]–[3]. This paper proposes an object localization method based on the fusion of monocular camera and two-axis-controlled laser ranging sensor. The spatial location of the target point is solved jointly by integrating the rotation angles of the cradle head motors and the laser-measured distance This method has the advantages of low cost, wide distance measuring range and good dynamic performance. The contribution of this work is summarized as follows: 1) An object localization method based on fusion of monocular camera and two-axis-controlled laser ranging sensor is proposed, and the working principle of the method is described in detail; 2) A prototype is designed and assembled according to the object localization method; and 3) To realize the effective object localization of the mobile robot, VOLUME 9, 2021 a compound control strategy combining feedback and feedforward is developed.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
