嵌入式移动机器人视觉定位及地图构建系统设计

摘要

A kind of embedded mobile robot which has the function of navigation and Localization is designed and using the Collaborative work mode of dual controllers and having multiple sensing module. The research on Localization and navigation Based on monocular vision is made on the embossed platform. The function of robot Localization is achieved through color road sign, the principle of image formation is analysed, the mapping of World geodetic system and image system is given, so the difficulty of robot Localization is simplified. Environment information is acquired by means of the distance that the ultrasonic transducer gets by rotation testing and the Map grid model is built according to the environment information. The experiment proved that the localization method could extract signposts focus accurately and has better location precision, and the computation time is reduced. The environmental model is built accurately according to the data of ultrasonic transducer and the request of obstacle avoidance could be met.%设计了一种具有定位和导航功能的嵌入式移动机器人,采用双控制器协同工作模式并具有多种感知模块；在设计的嵌入式平台上进行了单目视觉定位和导航研究；通过彩色路标和电子罗盘实现对机器人的定位,分析了摄像机成像原理,给出了世界坐标系和图像坐标系的映射关系,简化了机器人定位的难度；通过超声波传感器旋转测距获得周围环境信息,对环境信息处理后建立地图的栅格模型；实验表明该定位方法能够准确提取路标的重心,具有较好的定位精度,减少了计算时间；通过超声波数据可以比较准确的建立环境模型,能够满足避障要求.