Research Of Localization And Navigation For Mobile Robot Based On Depth Imaging

On the basis of summarizing the navigation methods used in the starboard inspectors which have been successfully operated,this paper proposes a mobile robot positioning and navigation method based on the existing navigation technology.Traditional mobile robot depth image navigation mostly rely on binocular camera or panoramic vision camera to collect data,but the design principle of such sensors determines its light,color and texture characteristics are more sensitive,and human existing data show that alien,the surface of the celestial body is mostly uniform monochromatic soil,there is no distinctive texture features,so the use of such sensors in the star chart navigation is very difficult to get good results.Based on the analysis of the surface environment of the moon and Mars,this paper designs an autonomous navigation mobile robot system which integrates multi-sensor information.The mobile robot adopts the RGB-D Camera as the main visual acquisition method.Since the RGB-D camera is a kind of The structure of the light-coded rangefinder sensor,for light,color and texture features are not sensitive,so in the star chart environment is expected to get a good navigation effect.There are four functional modules in the mobile robot system: depth image acquisition,image processing recognition,path planning decision and motion feedback and control module.Depth algorithm is based on the third party open source library OPENNI development,and then use the median filter,improve the closed operation algorithm to filter the image to filter out the noise;using boundary extraction combined with image segmentation algorithm for road and obstacle identification and separation;The motion feedback system is used to collect the information of the ultrasonic,travel,electronic compass and so on.The current motion state of the robot is obtained by the processing calculation.The motion of the robot is based on the GPS and dynamic programming navigation algorithm.Through the coordination of the four functional modules,the autonomous path planning and navigation of the mobile robot in the unstructured environment is realized.In order to verify the effectiveness of the proposed algorithm and the hardware system,the robot autonomous navigation and path planning experiments are carried out in the unstructured environment,and the experimental results are analyzed.