Research On Indoor Positioning And Navigation Technology Of Mobile Robot Based On Vision

As one of the key technologies of mobile robots,autonomous location and navigation technology is an important factor that gives robots the ability to perceive and execute.The location model and navigation algorithm are the core of robot autonomous location and navigation technologies.At present,most indoor location models show the problems of high cost and low effectiveness,which limit the application scenarios of mobile robots.Commonly used navigation algorithms are prone to "dimensional disaster" and cannot deal with nonlinear constraints,making it difficult to guarantee the real-time and reliability.Based on the above status quo,QR two-dimensional code is applied as the location identification information carrier,based on which the mobile robot indoor location and navigation system is designed and developed combined with machine vision and path planning algorithm.The main research content of this article includes the following aspects:1.A mobile robot indoor location and navigation system is designed to solve the problems in current mobile robot location and navigation technology,which consists of the location and navigation program design,control algorithm architecture programming and the robot management platform design.2.The QR codes location model is established in the light of the advantages of low production cost and high recognition accuracy of QR codes.With QR codes as location identification information carriers,the model obtains the image of QR codes matrix which projected by the projector onto the ceiling with a camera,and processes the image with specific machine vision algorithms to determine the pose of the mobile robot in the world coordinate system.3.The mixed routing algorithms is proposed and researched.Combining the advantages of A * Algorithm and Ant Colony Algorithm in solving global routing problems,a mixed path planning algorithm with A * Algorithm as the heuristic information function in Ant Colony Algorithm is put forward.The algorithm simulation is carried out with the computer simulation software.The results indicate that the mixed routing algorithm has a 60% reduction in iterations and a 50% reduction in path bending times compared to the traditional heuristic algorithm.4.Experimental platform is constructed including the hardware part and the software part.The hardware foundation is constituted of the processor,controller,camera,projector,encoder and motor,and the experimental platform software is developed to meet the visual display requirements of the mobile robot status in the experiment.5.Based on the built experimental platform,location and navigation experiments were conducted to test the function and performance of the mobile robot in completing linear location,rectangular location,barrier-free environment map navigation and obstacle-free environment map navigation.Experimental data shows that in the experimental environment of 3m * 4m,the location scheme based on the QR code raised in this paper can achieve real-time global location of the robot,and the location accuracy reaches 8mm.Compared with the traditional navigation algorithm,the hybrid path planning algorithm can achieve smooth path navigation in the map environment with obstacles.The study in this paper can promote the intelligent level of mobile robots to some extend.