单目视觉人工路标辅助的移动机器人导航方法  

Assistance Navigation Method for Mobile Robot Based on Monocular Visual Artificial Landmark

作　　者：黄露[1] 朱明[1] 

机构地区：[1]中国科学技术大学信息科学技术学院,合肥230027

出　　处：《计算机系统应用》2018年第1期106-112,共7页Computer Systems & Applications

基　　金：中科院先导项目课题(XDA06011203)

摘　　要：室内机器人在采用里程计法长距离导航时,定位精度下降很快,以及以往人工路标定位方案的识别准确率低,又难以满足导航实时性的要求.针对这些问题,本文设计了能快速准确识别的人工路标,从而来修正机器人里程计法导航的累计误差,并通过卡尔曼滤波将人工路标和里程计法的定位信息有效地融合起来.实验结果表明,数字人工路标的识别准确率高,且识别速度满足导航实时性的要求,该方法有效地提高了移动机器人里程计法导航时的精度和鲁棒性.When indoor robot adopts the odometer method for long distance navigation, the positioning accuracy decreases rapidly. In the past, the accuracy of the artificial landmark location scheme is low, and it is difficult to meet the real-time requirement of navigation. To deal with these problems, this paper designs the artificial landmark, which can be quickly and accurately identified, so as to correct the accumulative navigation errors by the robot odometer method, and the location information of the artificial landmark and the odometer method is effectively integrated with Caiman Filter. The experimental results show that the recognition accuracy of digital artificial landmark is high, and recognition speed meets the real-time requirement of navigation. This method can effectively improve the robustness and accuracy of the mobile robot when it adopts the odometer method to navigate.

关 键 词：室内机器人 里程计法 自主导航 人工路标 单目视觉 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]