基于人工路标的室内机器人导航方法

摘要

在室内环境下,以往的人工路标设计方案,其识别算法复杂,准确率较低,而且难以满足实时性的要求.针对这样的问题,本文设计了两种新的人工路标:定位人工路标和纠偏人工路标,不仅可以有效地帮助室内移动机器人导航定位和纠偏,而且具有识别简单快速的优点.机器人实时识别定位人工路标,并根据识别的纠偏人工路标来调整自身的位置和运动方向,使得机器人可以沿着事先规划好的路径顺利前行.通过实验表明,在室内光线较暗、适中、强光三种光线条件下,两种人工路标识别准确率高,且识别速度快,能够满足导航实时性的要求.%In the indoor environment, the previous artificial landmark design scheme is complex in recognition algorithm with low accuracy, and it is hard to meet the real-time requirements. In view of such problems, two new kinds of artificial landmarks are designed in this paper: location artificial landmark and correction artificial landmark, which can not only help the indoor mobile robot to navigate and rectify, but also have the advantages of simple and rapid identification. The robot can identify location artificial landmark in real time, and adjust its position and movement direction according to the correction artificial landmark, so that the robot can move forward smoothly along the planned path. Experiments show that in dark, moderate, strong light indoors, the recognition of two kinds of artificial landmark is highly accurate and fast, which can meet the requirements of real-time navigation.