|
At present, the mobile robot has a wide range of applications in many areas of the workers and peasants, transportation, military, and medical, to extend the human ability to work, to reduce or replace the heavy human labor. With the rapid development of robot technology, how to quickly and accurately determine the position of the robot is particularly important. Intelligent warehouse management system, due to the constraint conditions, the number of commonly used sensors such as infrared ray distance, GPS, etc. can not reach the positioning requirements, therefore need to reflect the position of the robot by the other sensor information. QR Code is a new high-performance matrix two-dimensional bar code information capacity, high reliability, and can represent Chinese characters and images, and other text information, confidentiality, strong security, easy production, low cost, because it has can be well used in intelligent warehouse management system in mobile robot positioning. Based on the actual situation of intelligent warehouse management system, a QR code algorithm to locate the mobile robot, and complete the software implementation and experimental verification. The main contents are: First, from the intelligent warehouse management system, robot localization, QR code describes the Research and technological development. Then used the P3-DX robot platform two differential drive modeling, analysis error model; based on the spacious ground of the actual environment of the warehouse management system, relatively simple robot path proposed a by laying decoding the the intelligent warehouse QR code scheme to solve the problem of robot positioning smart warehouse, describes the QR code encoding and decoding process, and the extraction method, and the posture of the robot in order to solve the QR code and the angle estimate. In order to obtain the relative offset of the robot with the QR code, we use Zhengyou calibration algorithm through the pinhole model of a three-dimensional analysis of the camcorder, camera calibration, the camera intrinsic and extrinsic parameters. And according to a pinhole model is deduced from the image obtained by the method of the relative position of the robot with the QR code. Finally, based on the intelligent warehouse model with the characteristics of robot motion in this environment, the proposed combination of a particle filter (PF) and the Kalman filter (EKF) algorithm to locate the camera information with the robot encoder information fusion, effectively improve the positioning accuracy.
|