基于ID标签和WEB摄像头的移动机器人拓扑导航

2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings. Pub Date : 2004-08-26 DOI:10.1109/ICIMA.2004.1384274

Weiguo Lin, S. Jia, Fei Yang, K. Takase

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引用次数: 12

摘要

本文提出了一种基于ID标签和WEB摄像头的导航方法。该方法利用ID tag作为人工地标，利用射频通信对地标(节点)进行绝对定位，利用WEB摄像头和ID tag对移动机器人进行相对定位。在此基础上，提出了一种包含节点连通性信息的节点ID表示方法。利用这种节点ID表示方法，引入了一种仅包含节点ID和方向角的拓扑映射描述。此外，还讨论了基于节点11的路径规划方法和基于方向角和航向角的姿态调整方法。导航实验表明，这种地图描述和路径规划方法对于移动机器人在室内环境下的导航是可行的。

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Topological navigation of mobile robot using ID tag and WEB camera

This paper presents a new navigation method using ID Tag and WEB camera. In this method, ID Tags are used as artifical landmarks, RF communication is used for absolute positioning of landmarks (nodes), WEB camera and ID Tags are used for relative positioning of mobile robot. Based on this localization method, a node ID representation method that contains connectivity information of nodes has been proposed. With this kind of node ID representation, a new topological map description has been introduced which contains only node IDS and direction angles. Furthermore, a path planning method using node 11) and pose adjustment method using direction angle and heading angle are also discussed. Navigation experiment showed that this kind of map description and path planning inethod are feasible for navigation of mobile robot in an indalor environment.

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来源期刊

2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.

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