复杂环境下磁弹性微型游泳机器人的路径规划与识别跟踪

doi:10.3901/JME.2023.05.089

机械工程学报 ›› 2023, Vol. 59 ›› Issue (5): 89-99.doi: 10.3901/JME.2023.05.089

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复杂环境下磁弹性微型游泳机器人的路径规划与识别跟踪

向红标^1,2, 杨大虎^1,2, 杨璐^1,2, 王收军^1,2, 张冕^1,2, 黄显³, 霍文星³

1. 天津理工大学天津市先进机电系统设计与智能控制重点实验室天津 300384;
2. 天津理工大学机电工程国家级实验教学示范中心天津 300384;
3. 天津大学精密仪器与光电子工程学院天津 300372

收稿日期:2022-10-07 修回日期:2023-01-13 出版日期:2023-03-05 发布日期:2023-04-20
通讯作者: 杨璐(通信作者),女,1982年出生,副教授。主要研究方向为图像处理、汽车自动导航技术等。E-mail:yanglu8206@163.com
作者简介:向红标,男,1982年出生,副教授。主要研究方向为微型机器人,伺服控制技术等。E-mail:xhb@tju.edu.cn;杨大虎,男,1998年出生,硕士研究生。主要研究方向为微型机器人图像处理。E-mail:yangdahu1998@163.com
基金资助:
天津市自然科学基金(20JCYBJC00790)和国家自然科学基金(52005370)资助项目。

Path Planning and Recognition Tracking of a Magnetoelastic Miniature Swimmer in Complex Environment

XIANG Hongbiao^1,2, YANG Dahu^1,2, YANG Lu^1,2, WANG Shoujun^1,2, ZHANG Mian^1,2, HUANG Xian³, HUO Wenxing³

1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384;
2. National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384;
3. School of Precision Instruments & Opto-Electronics Engineering, Tianjin University, Tianjin 300372

Received:2022-10-07 Revised:2023-01-13 Online:2023-03-05 Published:2023-04-20

摘要/Abstract

摘要： 磁弹性材料设计的毫米级微型游泳机器人可通过外部均匀磁场实现连续形变来完成游泳动作，通过视觉反馈能提高机器人的路径跟随精度，但在复杂背景下机器人的视觉闭环控制易发生识别错误、跟踪失败等现象。针对上述问题，首先获取复杂环境下的障碍物信息，提出改进RRT*算法(IIC-RRT*)进行路径规划，同时基于环形平滑标签的YOLOv5识别跟踪算法(CSL-YOLOv5)，在复杂背景下对微型游泳机器人的中心位置与旋转角度进行实时更新。在此基础上进行微型游泳机器人在障碍物复杂背景下的位置与角度的双闭环伺服控制，试验结果表明，提出的路径规划算法改善了路径生成的效率与平滑性，识别跟踪算法提高了微型游泳机器人的识别稳定性与精确性，为磁控微型游泳机器人在复杂背景下的精确控制提供了新思路。

关键词: 微型游泳机器人, 路径规划, 识别跟踪

Abstract: The miniature swimmer made of magnetic elastic material can achieve continuous deformation through the external uniform magnetic field to complete the swimming action. Despite visual feedback improving path tracking accuracy, visual closed-loop robot control is prone to recognition errors and tracking failures under complex backgrounds. Aiming at the above problems, firstly, the obstacle information in complex environments is obtained, and the improved RRT* algorithm (IIC-RRT*) is proposed for path planning. In addition, YOLOv5 based on circular smooth label (CSL-YOLOv5) recognition and tracking algorithm is used to update the central position and rotation angle of miniature swimmers in real time under complex conditions. Using this method, the miniature swimmer is controlled via dual closed loop servos with position and angle against a complex obstacle background. According to the experimental results, the proposed path planning algorithm improves the efficiency and smoothness of the path generation process, while the recognition and tracking algorithm improves the recognition stability and accuracy of the miniature swimmer. This work may provide an innovative idea for the precision control of the magnetic miniature swimmer under complex backgrounds.

Key words: miniature swimmer, path planning, recognition tracking

中图分类号:

TP242

向红标, 杨大虎, 杨璐, 王收军, 张冕, 黄显, 霍文星. 复杂环境下磁弹性微型游泳机器人的路径规划与识别跟踪[J]. 机械工程学报, 2023, 59(5): 89-99.

XIANG Hongbiao, YANG Dahu, YANG Lu, WANG Shoujun, ZHANG Mian, HUANG Xian, HUO Wenxing. Path Planning and Recognition Tracking of a Magnetoelastic Miniature Swimmer in Complex Environment[J]. Journal of Mechanical Engineering, 2023, 59(5): 89-99.

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复杂环境下磁弹性微型游泳机器人的路径规划与识别跟踪

Path Planning and Recognition Tracking of a Magnetoelastic Miniature Swimmer in Complex Environment

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