Research On Key Problems Of Autonomous Navigation System In Indoor Scene

In recent years,with the development of science and technology,it brings huge social demand to robot related industries.Because the robot can complete some repetitive and dangerous tasks quickly and accurately.Different from industrial robots,service robots have more flexible application scenarios.In terms of technical and performance requirements,the focus of the two is different:industrial robots focus on the repetition precision of action,while service robots focus more on the ability to perceive and interact with the environment.Because the working environment of the service robot is complex,uncertain and uncontrolled,it requires that it must have the ability to recognize,perceive,understand,judge and act independently of the environment and things.In this paper,the development status and future development trend of service-oriented robot navigation technology in recent years are studied.After comparison,it is found that the vision based navigation mode is a more frontier research field than other non-visual sensor navigation methods,because it is the visual information and the follow-up methods are closer to the human thinking mode.In view of the development trend of computer vision and deep learning technology,this paper proposes a robot navigation method combining binocular stereo vision with object recognition technology based on machine learning in view of the current navigation application requirements under the indoor environment of mobile robots,which extends the needs of binocular range finding and object recognition.With the scope,the robot's ability to perceive the environment is improved.Compared with the former method of robot navigation based on monocular vision,this research makes use of visual based object recognition technology to give the robot certain environmental cognitive ability by constructing the fusion recognition and decision model,and combining the three-dimensional reconstruction technology to realize the target location in the scene,and the visual plane recognition information.Combined with 3D reconstruction information,the purpose of enhancing the environment perception ability of robots is finally achieved.In order to verify the effect of the experimental model,this study designs and implements an experimental system that combines the binocular stereo vision with the object recognition technology with the independent mobile platform as the carrier.The combined navigation method of binocular stereo vision and object recognition,when applied to the experimental platform,can realize the identification and distance measurement of the object under the experimental scene,and can realize the autonomous navigation control of the mobile platform.The results have been verified to achieve the desired purpose.