Cooperative control method of robot formation movement path based on machine vision

Abstract

Because the formation path information is not extracted in the process of robot formation motion path cooperative control, the image processing time is long and the effect of avoiding obstacles to reach the target position is poor. Therefore, a robot formation motion path cooperative control method based on machine vision is proposed. Through the design of embedded chip control module, image acquisition module and communication module, the application process of machine vision technology is designed, and the target features in the motion path of robot formation are extracted, including other robot targets and obstacle targets in the formation. Then, the formation path information is extracted based on image preprocessing. On this basis, using the formation form of virtual structure-driver following method, the obstacle avoidance control of robot formation motion path is completed by potential field method. The experimental results show that after using this method, the images of its CCD camera when performing various processing are less than 200 ms. The moving environment image shows that this method has high processing performance for robot formation, and under the control of this method, the formation can change the formation and intelligent robot to avoid obstacles and reach the target position.