Methodic Design of Robot Vision Systems

摘要

In this paper we use the design of an innovative on-board vision system for a small commercial minirobotto demonstrate the application of a demand compliant design (DeCoDe) method. Vision systems are amongst the most complex sensor systems both in nature and in engineering and thus provide an excellent arena for testing design methods. A review of current design methods for mechatronic systems shows that there are no methods that support or require a complete description of the product system. The DeCoDe method is a step towards overcoming this deflciencty. The minirobot robot design is carried from the generic vision system level down to first refinement for a minirobot vision system for visual navigation.