大视场室内移动机器人高精度动态定位方法

高精度室内定位是移动机器人实现自主导航、运动控制和协同作业等任务的前提条件.利用单目视觉定位原理,提出了一种针对大视场的室内移动机器人绝对定位方法.该方法适用于室内多移动机器人同步动态定位,解决了大视场环境下多相机非线性标定和视场融合问题,相机标定精度提高了52.6％.为提高移动机器人动态定位精度,设计了基于光信标的高...

Large-field and High-precision Dynamic Positioning Method of Indoor Mobile Robots

High-precision indoor positioning process was the basis and prerequisite for mobile robots to fulfill tasks such as autonomous navigation, motion control, and cooperative operation. a large-field and absolute positioning method was proposed for indoor mobile robots based on the principle of monocular vision positioning. This method was suitable for the synchronous dynamic positioning of indoor multi-mobile robots, the problems of multi-camera nonlinear calibration and field fusion in the large-field environment were solved, and the camera calibration accuracy was improved by 52.6%. A high-speed positioning algorithm was designed based on optical beacons to improve the dynamic positioning accuracy of the mobile robots, where the image processing speed of the positioning system was improved. Then the dynamic errors of the positioning system were predicted and compensated. The experimental verification of each algorithm shows that the proposed method may perform high-precision dynamic positioning of multiple indoor high-speed mobile robots. When the robot moving speed is less than 3.2 m/s, the average dynamic positioning errors of the system position are less than 5 cm, and the average dynamic positioning errors of the system attitude angle are less than 0.6°.