METHOD FOR VISUALLY CONTROLLING CAR ORIENTATION OF MOBILE ROBOT MOVING ALONG HORIZONTAL SURFACE IN PRESET ROOM

摘要

FIELD: robotics, namely detection of Cartesian coordinates and angular position of car of mobile robot moving on horizontal surface in preset room.;SUBSTANCE: method for visually controlling car orientation of mobile robot on horizontal surface with predetermined Cartesian coordinate system by means of video camera comprises steps of fixing two different irradiation sources on car of mobile robot in the same height; setting system of reference points on horizontal surface; fixing position of video camera relative to horizontal surface; determining for each reference point on image matrix averaged dot image of irradiation source; according to current positions images of irradiation sources determining at first nearest to them images of reference points non-placed on the same straight line; then performing interpolation of positions of irradiation sources in Cartesian coordinate system and determining angular position of car of mobile robot.;EFFECT: possibility for automated improved-accuracy determination of Cartesian coordinates and angular position of car of mobile robot moving on horizontal surface in preset room.;3 dwg