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Service Robot Navigation Based on Vision

Author: ZhaoGuoWen
Tutor: WangZuo
School: Harbin Engineering University
Course: Mechanical and Electronic Engineering
Keywords: Visual navigation Artificial landmarks Service Robots Robot localization
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 205
Quote: 2
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Abstract


With the continuous development of scientific and technological level and the continuous improvement of people's living needs , service robots have been more and more widely used. In the service robot systems , autonomous navigation service robot technology is a key research areas , but also one of the key technologies . Autonomous navigation is stored in the robot in accordance with its internal map information provided by the external environment, some of the signal path from planning and movable along the path , without manual intervention , the mobile to a predetermined target point. This paper summarizes the foreign and domestic service robots , based on research results , combined with the actual situation of their own issues , established a vision and artificial landmarks based on a combination of navigation and positioning system . The system includes a service robots , artificial landmarks , vision sensors , frame grabbers and computers . This paper presents a easy identification and detection of artificial landmarks , and extract the characteristics of the sign of the NMI , the signpost is constituted by the infrared diode , easy recognizable from a complex background ; based on a linear model of camera imaging , camera calibration method using Zhang Zhengyou complete calibration experiments , access the camera 's internal parameters ; follow the signs feature , select the appropriate threshold to obtain a signpost in the image coordinates of the location , combined with the known landmarks in the world coordinate system position , using triangulation algorithm, a service robot in the world coordinate system autonomous positioning ; according to the experimental environment , built environment model and completed a global path planning and serial communication program design ; finally available in the laboratory for mobile robot navigation experiments on the platform , and the experimental results were analyzed. Experimental results show that the visual navigation system to meet the design requirements , principles and methods are feasible.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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