一种基于受限自然语言处理的移动机器人视觉导航方法  

A Visual Navigation Method of Mobile Robot Based on Constrained Natural Language Processing

作　　者：李新德[1] 张秀龙[1] 戴先中[1] 

机构地区：[1]东南大学自动化学院复杂工程系统测量与控制教育部重点实验室,江苏南京210096

出　　处：《机器人》2011年第6期742-749,757,共9页Robot

基　　金：国家自然科学基金资助项目(60804063;61175091);江苏省自然科学基金资助项目(BK2010403);图像信息处理与智能控制教育部重点实验室开放基金资助项目(200902);东南大学优秀青年教师教学;科研资助计划资助项目(3208001203);东南大学创新基金资助项目(3208000501)

摘　　要：本文在研究汉语自然语言路径重建描述(NLRP)语言规律的基础上,通过建立移动机器人导航意像图,设计了室内环境下基于受限自然语言的视觉导航算法.首先,从受限汉语文本中提取出路标,以及路标之间的大致方位和距离关系,并将其映射到建立的导航意像图上,然后从中提取路径关键引导点,实现机器人运行路径规划,且根据关键引导点将路径分成多段.在机器人每段运行过程中,计算参考目标的实时图像与数据库中样本图像的SURF特征点的匹配度,并融合里程计信息,实现机器人粗定位.再后,根据获得的机器人大致位置,计算下一段的运行方向,继续下一段运行,以此类推,直至运动到最后一段,最后实验结果充分证明了该方法的可行性、有效性和鲁棒性.Based on studying the basic law of the Chinese natural language representation of path（NLRP）,a visual navigation algorithm based on constrained natural language for indoor environments is designed through establishing the imagery map for mobile robot navigation.Firstly,landmarks are extracted from constrained Chinese text,relative directions and distances among the landmarks are obtained,and then those landmarks are mapped onto the imagery map.Secondly, key boot points,by which the path is divided into several segments,are extracted to realize the path planning of the mobile robot.For each segment,the matching degree of SURF（Speeded-Up Robust Feature） feature points between the referenced object＇s real-time pictures and sample pictures in the database is calculated,and the data of odometer are fused to ascertain the approximate location of the mobile robot.Then,based on the approximate location obtained in the previous segment, the running direction in the next segment is calculated,and the robot will run along it.The calculation and movement go analogically till the last segment.Experiment results demonstrate the feasibility,validity and robustness of the method.

关 键 词：NLRP 受限汉语 智能机器人 视觉导航 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]