移动机器人视觉受污应急规划

contingency planning was presented for the visual contamination of the mobile robot based on the framework of case based reasoning (CBR) introspection in this paper, so as to enable the robot to have degraded functions. The method of combining the frame-difference method with the visual background extrector (ViBe) algorithm was proposed to extract the pollutants from the cameras of the mobile robot. According to the pollutant characteristic information, two emergency planning schemes are mainly adopted: 1) the scanning strategy based on field-of-view stitching, 2) the pollutant cleaning strategy based on the Coanda effect. Experimental results show that the scanning strategy based on field-of-view splicing can use the remaining field of view to find the target and track it, and the cleaning strategy based on the Coanda effect can also achieve the camera cleaning.