Positioning and Aiming Algorithm of Target in the 3D Space

2018 International Conference on Advanced Materials, Intelligent Manufacturing and Automation

材料科学;机械制造;运输工程

Yang, Ting^1 ; Jia, Chao Chuan^1,2 ; Fan, Bing Hui^2 ; He, Fu Gui^1

College of Electronics and Information Engineering, West Anhui University, Lu'an, ANHUI

237012, China^1

College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, SHANDONG

266590, China^2

关键词: Co-ordinate system;    High risk environment;    Laser range finders;    Positioning algorithms;    Positioning units;    Real time performance;    Target positioning;    Transform matrices;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/382/5/052002/pdf
DOI  :  10.1088/1757-899X/382/5/052002

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

Target's positioning and aiming is one of the most significant function for robotic system in high-risk environment, especially for the anti-terror work robot. A novel target positioning and aiming method was proposed in this paper. The method had achieved target's positioning and aiming by positioning unit and aiming unit, separately, which are in the environment that people can't reach. The positioning unit is formed by laser rangefinder(LR), 2-D pan/tilt and CCD camera; the aiming unit is formed by 2-D pan/tilt and firearm. The coordinate system of the model was built by using the D-H coordinate system defined method; the target position within the basic coordinate system on the aiming unit can be obtained through the positioning algorithm by using Transform Matrix(TM) and the distance of the LR on the positioning unit, which as the input of the aiming unit, using the inverse kinematics model of the aiming unit, then the target can be aimed by the firearm through controlling the steering engines on the aiming unit. Despite the existence of error, however, the test analysis showed that the effectiveness of this method is verified, and guarantees a certain degree of real-time performance and operability. It also has some promotion significance in engineering.