移动机器人编队视觉定位方法研究

Research on Vision-Based Localization Method of Mobile Robot Formation

该文提出一种基于视觉的移动机器人编队定位方法。该方法采用基于纹理的图象对机器人进行标识,然后使用纹理中的特征点对机器人的位置和姿态进行估计,使用最小二乘算法使估计结果误差最小。实验证明该方法能够有效地对编队的移动机器人定位,同时对环境干扰具有鲁棒性。

In this paper,a vision-based localization method of mobile robot formation is put forward.It uses texturebased image to identify the robot,then estimates the position and orientation of the robot with the feature points in the texture image.At the end,LMS algorithm is used to minimize the estimation error.Experiments show its effectiveness for localization of mobile robot formation,as well as robustness against environment disturbance.