TY - GEN
T1 - Research on reliable path planning of manipulator based on artificial beacons
AU - Song, Jia
AU - Zhao, Kai
AU - Weng, Huiyan
AU - Wang, Xu
AU - Liu, Yang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - In order to solve the problem that manipulators can only move in a fixed trajectory in common industrial production at present, we propose a monocular visual positioning method based on artificial beacons, combining visual position technology with the movement of manipulators to complete the reliable path planning of manipulators. When it comes to practicability, the traditional point pair-matching method is equipped with robust factors, to increase the reliability. We adopt a linear predict algorithm and ROI (region of interest) in the solving of PnP (Perspective-n-Point) to ensure the real-time performance and improve the robustness. Finally, the reliability is verified by experiments, which provides theoretical basis and practical reference for the path planning of manipulator based on artificial beacons.
AB - In order to solve the problem that manipulators can only move in a fixed trajectory in common industrial production at present, we propose a monocular visual positioning method based on artificial beacons, combining visual position technology with the movement of manipulators to complete the reliable path planning of manipulators. When it comes to practicability, the traditional point pair-matching method is equipped with robust factors, to increase the reliability. We adopt a linear predict algorithm and ROI (region of interest) in the solving of PnP (Perspective-n-Point) to ensure the real-time performance and improve the robustness. Finally, the reliability is verified by experiments, which provides theoretical basis and practical reference for the path planning of manipulator based on artificial beacons.
KW - Artificial beacons
KW - Monocular visual
KW - PnP (Perspective-n-Point)
KW - Reliable path planning of manipulators
UR - https://www.scopus.com/pages/publications/85075176597
U2 - 10.1109/DASC/PiCom/CBDCom/CyberSciTech.2019.00137
DO - 10.1109/DASC/PiCom/CBDCom/CyberSciTech.2019.00137
M3 - 会议稿件
AN - SCOPUS:85075176597
T3 - Proceedings - IEEE 17th International Conference on Dependable, Autonomic and Secure Computing, IEEE 17th International Conference on Pervasive Intelligence and Computing, IEEE 5th International Conference on Cloud and Big Data Computing, 4th Cyber Science and Technology Congress, DASC-PiCom-CBDCom-CyberSciTech 2019
SP - 727
EP - 732
BT - Proceedings - IEEE 17th International Conference on Dependable, Autonomic and Secure Computing, IEEE 17th International Conference on Pervasive Intelligence and Computing, IEEE 5th International Conference on Cloud and Big Data Computing, 4th Cyber Science and Technology Congress, DASC-PiCom-CBDCom-CyberSciTech 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE International Conference on Dependable, Autonomic and Secure Computing, IEEE 17th International Conference on Pervasive Intelligence and Computing, IEEE 5th International Conference on Cloud and Big Data Computing, 4th Cyber Science and Technology Congress, DASC-PiCom-CBDCom-CyberSciTech 2019
Y2 - 5 August 2019 through 8 August 2019
ER -