Navigation method for correcting inertia angle of robot based on visual angle

Abstract

The invention discloses a navigation method for correcting an inertia angle of a robot based on a visual angle. Pure inertia navigation is completed just through the data of a gyroscope in a short-time walking process of a mobile robot, low-pass filtering processing is carried out on a difference value between the angle of the gyroscope and the angle of a machine body acquired by a camera so as toobtain a filtering angle correction value which is kept in a stable state for a long time, and after the mobile robot takes a relatively long time to traverse a preset planning path in a corresponding room area, a filtering angle correction value obtained at a corresponding latest sampling moment is fed back to a visual initial navigation angle acquired and calculated on a preset planned path ina non-traversed room area so as to realize compensation of accumulated errors, so that the problem of offset errors accumulated by long-time inertial navigation can be solved; therefore, the navigation angle of the robot is kept high in precision for a long time, and the mobile robot is prevented from deviating in a short-time walking path and a long-time walking path. And the real-time performance of robot navigation is improved.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a navigation method for a robot to correct the inertial angle based on the visual angle. Background technique [0002] Mobile robots usually use the coordinates and angles measured by the gyroscope for navigation, or use the attitude coordinates and angle parameters collected by the visual camera for navigation, but there are defects, such as: when the mobile robot only uses the coordinates and angles measured by the gyroscope to navigate During navigation, the angle measured by the gyroscope is relatively accurate in a short period of time, but the drift error generated by the gyroscope will increase with time, and the accuracy of the gyroscope data will decrease after a long working time, resulting in The path taken by the mobile robot will deviate from the pre-planned path; when the mobile robot only uses the angle collected by the camera to navigate, the angle collected by...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the offset defect caused by the inertial navigation angle error growing with time and the defect that the visual navigation angle is prone to jumps, the present invention corrects the robot by combining the angle measured by the gyroscope and the angle obtained by the camera. The trajectory will deviate when walking

Images