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首页> 外文期刊>American journal of applied sciences >Vision-Based Real-Time Positioning and Autonomous Navigation System Using Mobile Robot in Indoor Environments | Science Publications
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Vision-Based Real-Time Positioning and Autonomous Navigation System Using Mobile Robot in Indoor Environments | Science Publications

机译：室内环境中使用移动机器人的基于视觉的实时定位和自主导航系统科学出版物

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> >Research toward unmanned mobile robot navigation has gained significant importance in the last decade due to its potential applications in the location-based services industry. The increase in construction of large space indoor buildings has made difficulty for humans to operate within such environments. In this study, a mobile robot's indoor navigation algorithm is developed with vision cameras. Using two monocular cameras (one looking forward and one looking downward), the developed algorithms make use of the salient features of the environments to estimate rotational and translational motions for real-time positioning of the mobile robot. At the same time, an algorithm based on artificial landmark recognition is developed. The artificial landmark is shaped arrow based signboards with different colors representing different paths. These algorithms are integrated into a designed framework for mobile robot real-time positioning and autonomous navigation. Experiments are performed to validate the designed system using the mobile robot PIONEER P3-AT. The developed algorithm was able to detect and extract artificial landmark information up to 3 m distance for the mobile robot guidance. Experiment results show an average error of 0.167 m deviation from the ideal path, signified the good ability and performance of the development autonomous navigation algorithm.
机译： > >近十年来，由于其在基于位置的服务行业中的潜在应用，对无人移动机器人导航的研究变得非常重要。大空间室内建筑的增加增加了人类在这样的环境中操作的难度。在这项研究中，使用视觉相机开发了移动机器人的室内导航算法。通过使用两个单眼相机（一个向前看，一个向下看），开发的算法利用环境的显着特征来估计旋转和平移运动，以实时定位移动机器人。同时，开发了一种基于人工地标识别的算法。人工地标是基于箭头的异形招牌，具有不同的颜色代表不同的路径。这些算法被集成到用于移动机器人实时定位和自主导航的设计框架中。使用移动机器人PIONEER P3-AT进行了实验，以验证设计的系统。所开发的算法能够检测和提取多达3 m距离的人工地标信息，以用于移动机器人的制导。实验结果表明，与理想路径的平均误差为0.167 m，表明开发的自主导航算法具有良好的能力和性能。

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