基于光流定位的自动路径规划清扫机器人

Automatic path planning cleaning robot based on optical positioning

扫地机器人作为智能家居的一个分支,在当下火热一时。一个完整的机器人定位以及路径规划系统是必不可少的。此文针对机器人路径规划进行了研究,光流定位是由机器视觉延伸出的一种技术,通过摄像头识别进行定位,能反应机器人实时的二维坐标。基于光流定位和测距模块,可以实现对室内大致地形的判别,从而规划出一条最优的清扫路线。实验证明:该规划方案能基本覆盖室内的清扫区域。

As a branch of intelligent home,cleaning robot has become today＇s hits. Then a complete system of positioning and path planning for the robot is essential. This paper researches on path planning for the robot. Optical positioning is a kind of technology extended from machine vision,which positions by camera identification,and can react the real time 2D coordinates of the robot. Based on optical positioning,the robot,with ranging module,can judge indoor terrain roughly,and then plan out an optimal cleaning route. Experimental results show that the planning scheme can cover the area needed cleaning indoor on the whole.