| 嵌入式移动机器人红外路标定位模块研究 |
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| 引用本文： | 刘陰龙,杨广京,罗杨宇,李成荣,何存富. 嵌入式移动机器人红外路标定位模块研究[J]. 计算机工程, 2013, 39(3): 203-208 |
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| 作者姓名： | 刘陰龙 杨广京 罗杨宇 李成荣 何存富 |
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| 作者单位： | 1. 北京工业大学机雧工程与应用电子技术学院,北京,100124
2. 中国科学院自动化研究所,北京,100190 |
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| 摘 要： | 针对室内环境移动机器人的自定位问题，提出一种嵌入式移动机器人红外路标定位模块。采用基于单应矩阵的初始标定算法和陒机初始标定方法，补偿由于实际使用中的安装误差所引起的定位偏差。实验结果表明，该模块易于嵌入式系统实现，定位模块位置精度可达厘米级别，角度定位精度雓于6°。
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| 关 键 词： | 移动机器人 自定位 被动式红外路标 初始标定 嵌入式处理器 |
| 收稿时间： | 2012-04-01 |
Research on Infrared Landmark Localization Module of Embedded Mobile Robot |
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| LIU Xiao-long , YANG Guang-jing , LUO Yang-yu , LI Cheng-rong , HE Cun-fu. Research on Infrared Landmark Localization Module of Embedded Mobile Robot[J]. Computer Engineering, 2013, 39(3): 203-208 |
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| Authors: | LIU Xiao-long YANG Guang-jing LUO Yang-yu LI Cheng-rong HE Cun-fu |
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| Affiliation: | (1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China; 2. Institue of Automation, Chinese Academy of Sciences, Beijing 100190, China) |
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| Abstract: | Aiming at the problem of self-localization for the mobile robot, a new infrared landmark localization module of embedded mobile robot is proposed. The module uses a single matrix initial calibration algorithm and camera initial calibration method to calibrate the camera before the process of localization. Experimental result shows that this module is effective on the embedded processors, and the precision of position localization is in the range of millimeter, the angle localization is less than 6°. |
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| Keywords: | mobile robot self-localization passive infrared landmark initial calibration embedded processor |
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