Multiple mobile robots real-time visual search algorithm

摘要

A multiple mobile robots visual real-time locating system is introduced, in which the global search algorithm and track search algorithm are combined together to identify the real-time position and orientation(pose) of multiple mobile robots. The switching strategy between the two algorithms is given to ensure the accuracy and improve retrieval speed. The grid search approach is used to identify target while searching globally. By checking the location in the previous frame, the maximum speed and the frame time interval, thus the track search can determine the area target robot may appear in the next frame. Then, a new search will be performed in the certain area. The global search is used if target robot is not found in the previous search otherwise track search will be used. With the experiment on the static and dynamic recognition of three robots, the search method here is proved to be high precise, fast, stable and easy to extend, all the design requirements can be well met.