Indoor movable robot real-time navigation method based on visual information correction

A mobile robot and visual information technology, applied in the field of robot navigation, can solve problems such as narrow application range, large cumulative error, and poor real-time performance, and achieve the effects of improving anti-interference ability, suppressing background noise, and accelerating convergence speed

Inactive Publication Date: 2009-11-11
BEIHANG UNIV
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  • Abstract
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Problems solved by technology

The technology is simple and practical, but the cost is high, and the modification and maintenance are difficult
[0005] (2) The principle of light reflection navigation is to continuously lay light reflection strips on the path. Like electromagnetic navigation, this technology is also quite mature. At present, most mobile robots used in the domestic manufacturing industry are based on light reflection navigation and electromagnetic navigation. navigation methods, but their scope of application is relatively narrow, and they are not suitable for mobile robot navigation in dynamic and changing working environments
[0011]

Method used

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  • Indoor movable robot real-time navigation method based on visual information correction
  • Indoor movable robot real-time navigation method based on visual information correction
  • Indoor movable robot real-time navigation method based on visual information correction

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Embodiment Construction

[0025] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0026] The present invention is a real-time navigation method for an indoor mobile robot based on visual information correction. The process is as follows: figure 1 As shown, it mainly includes the following steps:

[0027] Step 1: Initialize the robot navigation system, start the odometer and vision sensor;

[0028] Initialize the navigation system, including determining the initial position of the mobile robot and initializing the parameters of all filters, where the main parameters of the filter are the system noise variance matrix of the mobile robot motion model and the measurement noise variance matrix of each sensor, and start the odometer and vision sensors.

[0029] Step 2: The odometer and the visual sensor obtain the current position information of the robot, construct a Kalman filter, and obtain the estimated value of the odometer filter...

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Abstract

The invention discloses an indoor movable robot real-time navigation method based on visual information correction, comprising the following steps of: (1) initializing a robot navigation system, and starting a mile meter and a visual sensor; (2) obtaining the current position of a robot by the mile meter and the visual sensor and forming a kalman filter so as to obtain a mile meter filtration estimation value and a visual sensor filtration estimation value; (3) fusing the mile meter filtration estimation value and the visual sensor filtration estimation value; and (4) resetting parameters. The invention sufficiently utilizes the respective advantages of visual information and mile meter information and combines the precision of the visual information and the real-time property of the mile meter information; the invention utilizes the mile meter self information to carry out the recurrence computation to obtain navigation data at most of the time, thereby ensuring the real-time requirement of the navigation system; in addition, the invention also utilizes the visual information to correct the accumulated errors generated in the dead reckoning of the mile meter, thereby greatly enhancing the accuracy of the navigation system.

Description

technical field [0001] The invention relates to a real-time navigation method for an indoor mobile robot based on visual information correction, belonging to the field of robot navigation. Background technique [0002] The navigation system is one of the important components of the mobile robot. It can provide the robot with correct position and attitude information, so that the robot can work in a certain environment and complete the specified tasks. The navigation system of the mobile robot is also the basis for realizing the path planning, obstacle avoidance and collision avoidance of the mobile robot, and intelligent autonomous control. [0003] At present, the common methods of robot navigation system are: electromagnetic navigation, light reflection navigation, GPS navigation, environment map model matching navigation, road sign navigation, visual navigation, etc. [0004] (1) Electromagnetic navigation is also called underground buried line navigation. Its principle ...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/12G01C21/20
Inventor 秦世引谢凡
Owner BEIHANG UNIV
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