基于里程计和PTZ视觉的移动机器人自定位  

Autonomous localization of mobile robot based on odometer and PTZ vision

作　　者：牛国臣[1,2] 徐萍[1] 冯琦[1] 

机构地区：[1]中国民航大学机器人研究所,天津300300 [2]北京航空航天大学机器人研究所,北京100191

出　　处：《计算机应用》2011年第10期2821-2824,共4页journal of Computer Applications

基　　金：中国民用航空局科技类开发项目(MHRD0702);中央高校基本科研业务费中国民航大学专项(ZXH 2009B002);中国民航大学科研基金资助项目(07KYM03)

摘　　要：针对机器人长距离运行时里程计定位存在累积误差问题,提出一种基于里程计和PTZ视觉的移动机器人自定位算法。提出了中断式S形搜索策略的概念,设计了基于有限自动机的视觉定位方法;分析了里程计和视觉定位误差来源,分别建立了其定位信度模型;并基于该模型建立里程计和PTZ视觉定位的框架。针对视觉定位及里程计视觉复合定位分别进行了实验,结果验证了该方法的有效性和实用性。To reduce the influence of cumulative odometer localization error,an autonomous localization approach for mobile robot based on odometer and Pan-Tilt-Zoom（PTZ） vision was presented.Interrupt S-shaped searching strategy was put forward,as well as a vision localization approach based on finite automaton.The position credibility models of odometer and PTZ vision were established according to their positioning error sources.A localization framework combining odometer and PTZ vision based on real-time position credibility was designed.An application experiment of vision localization and localization using odometer and PTZ vision was carried out.The validity and practicability of the method are confirmed.

关 键 词：移动机器人 中断式S形搜索策略 信度模型 PTZ视觉 里程计 定位 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]