2023 Vol.6 Oct.N05

• Title: Research on intelligent detection and tracking of the moving track of the library automatic searching robot
• Name: William Smith
• Company: California Miramar University,USA
• Abstract:

  In order to ensure the tracking effect of the robot in the process of searching for objects in the library, and avoid the occurrence of pose angle deviation, the intelligent detection and tracking method of the moving track of the library automatic searching robot is studied. In this method, the vision acquisition module is used to acquire the sequence coordinate information of the available path points for the robot to move in the library. The upper computer of this module uses Bezier curve according to the coordinate information to determine the desired position and pose of the robot; The robot dynamic positioning module adopts the improved APIT positioning algorithm based on distance measurement combined with beacon nodes to obtain the actual position and orientation of the robot on the planned trajectory, input the expected position and orientation of the robot and the actual position and orientation into the fuzzy neural network PID method in the moving trajectory tracking control module, and output the angular velocity control quantity of the robot to ensure the tracking effect of the moving trajectory. The test results show that this method can better complete the robot trajectory planning; The maximum error results of moving position positioning on X axis and Y axis are 1.4cm and 1.7cm respectively; The error of the moving position and attitude angle is less than 8.5 °; It can complete accurate tracking of different types of tracks.

  
  

• Keyword: library; Automatic finding; robot; Moving track; Intelligent detection and tracking; Desired posture
• DOI: 10.12250/jpciams2023090701
• Citation form: William Smith.Research on intelligent detection and tracking of the moving track of the library automatic searching robot [J]. Computer Informatization and Mechanical System,2023,Vol.6,pp.1-3

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