Research Of Location Method Of The Indoor Robot Based On Artificial Landmarks

With the development and progress of robotics, robots become more and more widely application field, including service indoor robot has become the current focus on developing and research objects. Self-positioning technology is indoor robot using its carrying sensor devices to obtain information on the current environment, using the collected information to determine the robot location technology, in the environment is one of the key technologies to realize intelligent mobile robot. Therefore, the study of the mobile robot localization algorithm has very important significance.This article from the perspective of practical application, based on image processing technology and navigation kalman filtering technology, designed a new method of artificial landmarks and the mobile robot positioning.First of all, since the positioning problem of mobile robot are described in detail,through the study of the path of the existing optimal estimation, the combination of mobile robot motion model, established a state model and observation model of kalman filtering. According to the model proposed in this paper, we study the localization algorithm, and then the algorithm is derived in detail.Secondly, the paper introduces the landmark and functions of several types of artificial landmarks, according to the short-distance photogrammetry and the work environment is designed for artificial landmarks of graphics in this paper.Finally, the article based on the MATLAB image processing platform for the design of artificial landmarks in image processing and positioning, the existing test sites and experiment equipment, experiment mobile robot positioning under the different illumination conditions. Experimental results show that the designed algorithm to meet the needs of indoor mobile robot localization, in different environmental conditions at the same time the algorithm localization accuracy is also different.