Research On Localization And Navigation Of Automatic Parking Robot Based On Two-Dimension Code Recognition

In recent years,car ownership has increased rapidly,followed by the lacking of parking spaces.Parking robot can effectively improve the capacity of existing parking lots,which is of great significance to alleviate the shortage of parking spaces.This thesis presents a general design scheme for parking robot,and focuses on its localization and navigation problems.This thesis studies the development of parking robot and the relevant technologies of robot localization and navigation at home and abroad.The overall design of the parking robot system is carried out,and the robot control system is built.The positioning scheme based on two-dimensional code recognition and hybrid path planning scheme are determined.The QR code is chosen as the two-dimensional code for positioning.The process of image processing of QR code is studied,the transformation of image coordinate system to global coordinate system is analyzed,and the formula of the global position information of the robot is deduced.In the case of missing two-dimensional code information,gyroscope and encoder are used to reckon the position and direction and achieve real-time positioning.Based on the grid method,a discrete two-dimensional code environment map is established.The path smoothness of the traditional A star algorithm is optimized.The optimized algorithm becomes more efficient.Under the Matlab software,both the algorithms are simulated,and the improved algorithm is proved to be effective.Then,combined with the artificial potential field algorithm,a hybrid path planning algorithm is proposed.The hybrid path planning algorithm makes the robot adapt to the dynamic environment,it is verified by Matlab simulation.The experimental platform is developed and its performance is tested.The location method based on two-dimensional code recognition is verified by real experiment,which proves its feasibility.The hybrid path planning algorithm is verified by real experiment too,the experimental results show that the proposed algorithm is effective.Experiments show that the localization and navigation method based on two-dimensional code recognition proposed in this thesis can meet the real requirements of the parking robot.The method proposed in this thesis can be applied to other types of indoor mobile robots.