Design of Trajectory Tracking Algorithm of Isolated Observation Point Automatic Distribution Vehicle based on Visual Servo

Abstract

The medical isolation observation point for epidemic prevention and control is an important part of the epidemic prevention and control link. With the attention paid by all countries to the epidemic prevention and control, the design and construction of the medical isolation observation point for epidemic prevention and control have put forward higher requirements. This design uses a visual servo-based automatic delivery car for trajectory tracking and research on the tracking algorithm to realize the automatic delivery car for the regular delivery of medicines, food and other daily necessities for isolated personnel. The application of automatic trolleys in the epidemic prevention and control medical isolation observation point can effectively alleviate the pressure on staff, avoid infection, and improve the efficiency of epidemic prevention. Aiming at the complexity of its motion trajectory, a tracking algorithm of vision and information fusion is used to implement the trajectory tracking of the smart car. The trend of the target trajectory is determined by the least square method. The image information collected by the image binarization algorithm is added to a certain anti-jamming program. The PID algorithm is used to optimize the control of the steering gear and the drive motor, improve the operating efficiency and system stability, and meet the actual application.