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Remote fixed-point self-navigation method based on visual ROS system and used for nonholonomic robot

A robot and incomplete technology, applied in the direction of navigation calculation tools, etc., to achieve the effect of reducing cumulative error, improving position accuracy, and improving positioning accuracy

Inactive Publication Date: 2018-03-30
HOHAI UNIV CHANGZHOU
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Problems solved by technology

[0004] The purpose of the present invention is to propose a non-complete robot remote fixed-point self-navigation method based on the visual ROS system, realize the robot's autonomous arrival at the designated location, and solve the technical problems of the robot's autonomous positioning, autonomous navigation, and remote control

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  • Remote fixed-point self-navigation method based on visual ROS system and used for nonholonomic robot
  • Remote fixed-point self-navigation method based on visual ROS system and used for nonholonomic robot
  • Remote fixed-point self-navigation method based on visual ROS system and used for nonholonomic robot

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[0027] The technical solutions of the present invention will be further elaborated below according to the drawings and in conjunction with the embodiments.

[0028] figure 1 It is the internal data flow diagram of the remote fixed-point self-navigation method of the non-complete robot based on the visual ROS system of the present invention. Two-way arrows and one-way arrows indicate that data flows in two directions and in one direction, respectively. Among them, the information exchange is carried out between the remote computer and the upper computer through the network remote desktop control, and the information exchange is carried out between the upper computer and the lower computer through Socket communication. The lower computer of the robot is used to calculate the actual speed of the current robot, and transmit the speed data to the upper computer. The host computer decides the movement speed of the robot according to the sensor data in the Kinect camera and the dat...

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Abstract

The invention discloses a remote fixed-point self-navigation method based on a visual ROS system and used for a nonholonomic robot. Firstly, a RGB images and depth images are acquired through a calibrated Kinect vidicon to obtain a point cloud image, an SURF method is adopted to extract characteristic information of each frame of images, the characteristics of adjacent frames are matched, robot posture change between every two adjacent frames is estimated by combining with the depth images, estimation results are optimized, a raster map of an ambient environment is created, connection betweenan upper computer and a lower computer is achieved, destination marking is conducted on the map, and remote fixed-point self navigation of the robot is achieved. Posture information of the robot is read through point cloud images, the position accuracy is improved, and characteristic extraction is performed by adopting the SURF method so that the extraction speed and accuracy can meet the real-time demand. The posture change is optimized and treated, the positioning accuracy is improved, meanwhile the function of remote fixed-point self navigation of the robot is achieved.

Description

technical field [0001] The invention belongs to the field of visual control of non-holonomic robots, and relates to a remote fixed-point self-navigation method for non-holonomic robots based on a visual ROS system. Background technique [0002] As one of the most common types of wheeled mobile robots, nonholonomic robots are widely used in many fields. At present, the autonomous positioning and navigation of robots is a relatively popular research direction. In the design process, both real-time and accuracy must be satisfied, and remote control is also more important. [0003] How to accurately remotely control non-holonomic robots to achieve fixed-point automatic navigation is a major problem in the field of computer vision. It is an effective method to realize automatic navigation of robots in designated places with vision, but it is also a method with many problems. The invention proposes a remote fixed-point self-navigation method of a non-holonomic robot based on a vi...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 陈华王鹏远朱校君刘少国杨柯
Owner HOHAI UNIV CHANGZHOU
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