基于模板的自主跟随机器人系统设计

his paper design and implementation of a following robot system based on checkerboard template. Firstly, the structure and basic imaging principle of the camera were expounded. On this basis, the thesis presented a method for calculating the external parameters of the camera based on the checkerboard template, which includes the real-time 3D coordinate and posture. Secondly, according to the external parameters of the camera fixed on the robot, the system calculated the three-dimensional position and posture of the robot in the template coordinate system. When the template moves, the new position and posture of the robot in the template coordinate system can be dynamically calculated by real-time calibration of the external parameters of the camera. Thirdly, the corresponding motion control protocol was formulated to drive the robot to maintain the initial position and posture in the template coordinate system. Finally, the corresponding experiments were designed to verify the stability and applicability of the following system.