基于视觉信息的移动机器人自主导航位置跟踪方法

Position Tracking Method of Mobile Robot Autonomous Navigation Based on Visual Information

机器人实时位置节点与预设导航轨迹样点存在较大偏差,会导致导航系统无法准确跟踪机器人运动行为。为了解决上述问题,设计基于视觉信息的移动机器人自主导航位置跟踪方法。基于视觉信息模型提取并连接导航点,以便对导航视觉信息实施保存。针对机器人自主导航运动行为进行逆解运算,并根据同步位置跟踪器建模条件。计算跟踪误差,完成基于视觉信息的移动机器人自主导航位置跟踪方法的设计。实验结果表明,该方法可将实时位置节点与预设导航轨迹样点间的坐标偏差控制在1%之内,不会因偏离问题而使导航系统无法准确跟踪机器人运动行为。

There is a large deviation between the real-time position node of the robot and the preset navigation trajectory sample points,which leads to the failure of the navigation system to accurately track the robot motion behavior.In order to solve the above problems,a position tracking method of mobile robot autonomous navigation based on visual information is designed.The navigation points are extracted and connected based on the visual information model in order to save the navigation visual information.The inverse solution is calculated for the autonomous navigation motion behavior of the robot,and the conditions are modeled according to the synchronous position tracker.The tracking error is calculated to complete the design of the mobile robot autonomous navigation position tracking method based on visual information.The experimental results show that the proposed method can control the coordinate deviation between the real-time position nodes and the preset navigation trajectory samples within 1%,so that the navigation system can not accurately track the robot motion behavior due to the deviation problem.