Transactions of Nanjing University of Aeronautics & Astronautics
Agent Collaboration Technology Based on Multi-camera Pose Monitoring System
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Abstract:
Multi-camera pose monitoring system is a high precision digital measuring equipment which can be used to obtain the three-dimensional position information of the target in environment. We constructed a new agent system consisting of many Mecanum wheel mobile robots and multi-camera pose monitoring system， which can be divided into three parts： positioning subsystem， communication subsystem and control subsystem. First， the multi-camera system acts as a positioning system to locate the agent through the reflective target balls， then the communication subsystem sends large positioning information to the control subsystem in real time. The control subsystem identifies different agents， and converts the pose relationship under the camera coordinate system to the world coordinate system. Finally， according to the position relationship between different agents， the corresponding cooperative control algorithm is designed to solve the input parameters required by a single agent， and control the agent to reach the specified position precisely. The experiment results show that the agent positioning assisted by the multi-camera pose monitoring system has small positioning error， which can make the whole agent cluster have good cooperative control performance.
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Project Supported:
This work was supported by the Natural Science Foundation of China （No.52075260）， and the Key Research and Development Program of Jiangsu Province， China （No.BE2023086）.
Clc Number:
TP391.7
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