基于二维码与IMU融合的室内移动机器人导航技术研究  

Research on indoor mobile robot navigation technology based on the fusion of quick response code and inertial measurement unit

作　　者：赵斌 向阳[1] 杜鹏程 王嘉程 韩伟[1] ZHAO Bin;XIANG Yang;DU Pengcheng;WANG Jiacheng;HAN Wei(College of Mechanical and Electrical Engineering,Hunan Agricultural University,Changsha,Hunan 410128,China)

机构地区：[1]湖南农业大学机电工程学院,湖南长沙410128

出　　处：《农业工程与装备》2024年第3期14-18,27,共6页AGRICULTURAL ENGINEERING AND EQUIPMENT

基　　金：湖南省重点研发计划项目(2024JK2033)。

摘　　要：针对现有室内移动机器人定位导航技术存在的应用成本较高、适应性不强、操作系统复杂等问题,基于二维码与IMU融合研发了一种定位导航技术。该技术的路径规划和路径跟踪均基于二维码序列进行,通过在地面设置二维码标签为机器人提供绝对定位参考,利用机器人底盘装配的摄像头读取二维码数据,分析识别数据后校正位置和姿态,利用IMU数据和PID算法确保机器人直线行驶至下一个二维码,经过多个二维码间的依次运动实现预定路线的自动导航。试验结果表明:该技术导航精确度高、作业误差小、应用简单可靠,室内机器人可顺利完成预定路线的自主导航任务,能满足特定场景下的室内作业需求。Addressing the issues of high application cost,limited adaptability,and complex operating systems in existing indoor mobile robot positioning and navigation technology,we have developed a positioning and navigation technology that fuses quick response(QR)code with inertial measurement unit(IMU).The path planning and tracking of this technology rely on QR code sequences.By placing QR code labels on the ground to provide absolute positioning references for the robot,the camera mounted on the robot's chassis reads,analyzes,and recognizes the QR code data.It then corrects the robot's position and orientation,utilizing IMU data and a PID algorithm to ensure the robot moves directly to the next QR code.Sequential movement between multiple QR codes facilitates automatic navigation along predetermined routes.Experimental results demonstrate that this technology offers high navigation accuracy,minimal operational errors,and simple,reliable applications.Single indoor robots can successfully accomplish autonomous navigation tasks for predetermined routes,fulfilling indoor operational requirements in specific scenarios.

关 键 词：室内定位技术 二维码 IMU 机器人 融合导航 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]