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

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 ...

AI Technical Summary

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] According to the requirements of indoor mobile robot navigation, the most common ones are navigation systems based on odometer or magnetic inertial sensor and vision-based navigation system. These two types of systems have certain limitations. First, odometer or magnetic inertial sensor Usually the processing speed is faster, but since they all use the track recursion method for navigation and positioning, it will inevitably introduce a large cumulative error

Vision-based navigation systems usually have high precision, but the acquisition and processing of images takes a long time, so the real-time performance is poor.

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