摘要
A system for mobile robot localization and navigation was presented.With the proposed system,the robot can be located and navigated by a single landmark in a single image.And the navigation mode may be following-track,teaching and playback,or programming.The basic idea is that the system computes the differences between the expected and the recognized position at each time and then controls the robot in a direction to reduce those differences.To minimize the robot sensor equipment,only one omnidirectional camera was used.Experiments in disturbing environments show that the presented algorithm is robust and easy to implement,without camera rectification.The rootmean-square error(RMSE) of localization is 1.4,cm,and the navigation error in teaching and playback is within 10,cm.
A system for mobile robot localization and navigation was presented. With the proposed system, the robot can be located and navigated by a single landmark in a single image. And the navigation mode may be following-track, teaching and playback, or programming. The basic idea is that the system computes the differences between the ex- pected and the recognized position at each time and then controls the robot in a direction to reduce those differences. To minimize the robot sensor equipment, only one omnidirectional camera was used. Experiments in disturbing envi- ronments show that the presented algorithm is robust and easy to implement, without camera rectification. The root- mean-square error （RMSE） of localization is 1.4 cm, and the navigation error in teaching and playback is within 10 cm.
基金
Supported by National Natural Science Foundation of China (No. 31000422 and No. 61201081)
Tianjin Municipal Education Commission(No.20110829)
Tianjin Science and Technology Committee(No. 10JCZDJC22800)
