| Localization is the key to solve the complex tasks of mobile robots,which is of great theoretical and practical value to improve the robot automation level.The positioning method is divided into two categories: relative positioning and absolute positioning.Relative positioning refers to the robot in the initial position known conditions through the external sensor to determine its own position.Absolute positioning means that the robot determines its position by the external sensor without knowing its initial position.This dissertation mainly includes the following content:Firstly,this paper introduces the basic knowledge of robot positioning and the basic theory of image processing,and gives the establishment and transformation of robot coordinate system,the dynamic model of robot and the kinematics model and its control algorithm.Secondly,In this paper,the robot model and positioning algorithm of the relative positioning method are studied and analyzed,and a mobile robot platform with zero turning radius is set up.For the robot's heading information,the electronic compass module is used.with the help of the introduction of the Kalman filter algorithm,the electromagnetic compass angle accurate to ?1 °.This provides a more reliable and stable heading information for mobile robots,laying the foundation for the precise positioning of the positioning system for indoor mobile robots based on encoders and electromagnetic compass.At the same time zero turn radius of the robot in the course of movement avoidance will not introduce additional error,further explaining the rationality of this positioning system.Thirdly,based on the analysis of various absolute positioning techniques,a global positioning system based on computer vision is proposed according to the existing resources and the requirement of indoor positioning accuracy.The global visual positioning platform is built,and the experimental platform is sampled periodically by a camera with a third angle fixed above the platform.After a series of image processing,the image coordinates of the two color labels on the top of the mobile robot is coming.And then according to the known image coordinates and the known world coordinates of the two reference points,the robot on the experimental platform world coordinates is calculated,and then the positioning is completed.Experiments show that the positioningaccuracy can reach the centimeter level,in line with the indoor mobile robot positioning accuracy requirements.Finally,I design and implement the indoor mobile robot interaction system.For the positioning method based on the encoder and the electromagnetic compass,the mobile robot interaction system receives the robot's data to analyze the position information of the robot and display it on the coordinate system.For the global visual positioning,he mobile robot interaction system displays camera window,through the processing image to get the robot's pose information,and displays it on the coordinate system,while the pose information will be sent back to the robot,to guide its movement to the target. |
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