Research And Implementation Of Indoor Robot Navigation Method Based On Artificial Landmark

With the development of computer and sensor technology,the research on mobile robot technology has become a hot issue in the world.As one type of indoor mobile robot technology,navigation technology has been at the core of the research.The key to the autonomous navigation of mobile robot in indoor environment,is how to solve the problem of real-time and accurate localization of mobile robot.Many mobile robot navigation methods have been presented in the past,but most of them have difficulty in ensuring the accuracy and real time of navigation simultaneously.Thus,this thesis explores the navigation method of indoor robot based on artificial landmark.Specifically,this thesis begins with the design of artificial landmark,and then a fast,accurate and anti-jamming recognition algorithm for landmark is proposed,which can be used to assist the mobile robot to locate and navigate autonomously.The specific contents and contributions of this thesis include:1.An indoor mobile robot localization and navigation method based on artificial landmark is proposed.In terms of previous artificial landmark design schemes,the landmark recognition does not perform so well.So the accuracy of landmark recognition is low,and also it is dfficult to meet the requirements of real-time navigation.Therefore,this thesis designs two kinds of artificial landmarks:locating artificial landmark and correction artificial landmark,and correspondingly puts forward a fast and accurate landmark recognition algorithm.First,the robot can identify the locating artificial landmarks in real time and accurately,and then queries the path planning relation table to obtain the execution command information.Secondly,the robot adjusts the navigation deviation according to the correction artificial landmark which is identified,so it can move forward smoothly along the well-planned path.The experimental results show that,under the condition of indoor light,the two kinds of artificial landmarks have high recognition accuracy and fast identification speed,which ensures that the mobile robot can complete the indoor navigation task both in real time and accurately.2.An assistance navigation method for indoor mobile robot based on artificial landmark is proposed.When the mobile robot adopts the odometer method for long distance navigation,the positioning accuracy decreases rapidly.Therefore,this thesis designs the artificial landmark,which can be identified quickly and accurately,so as to correct the navigation deviation of the robot odometer method,and the location information of the artificial landmark recognition and the odometer method is integrated effectively by Calman Filter.The experimental results show that,the proposed method can ensure the accuracy and real-time requirements of mobile robot navigation,and effectively improve the accuracy and robustness of mobile robot navigation.3.Based on the above research results,combined with the automatic charging method for mobile robot assisted by the charging device,an autonomous navigation system for indoor mobile robot has been built,and good navigation effect has been achieved.