摘要
为了提高机器人在室内移动过程中的感知能力,在移动机器人的导航系统中引入Xtion三维深度摄像头作为传感单元,以数据融合单元和路径规划单元为核心,设计了具有机载Xtion摄像头的移动机器人导航系统.系统采用IMU(Inertial measurement unit)和增量式光电编码器作为视觉导航的补偿传感器来弥补Xtion深度摄像头在80cm以内位置感应能力的不足,并采用一种机器人位移、偏移度数据融合算法,对Xtion生成的位移、偏移度数据进行修正.最后利用A*路径规划算法进行机器人的路径规划,在导航系统的作用下,实现机器人从起始位置到设定的目标位置的无碰撞运动.实验结果表明:在机器人导航中,Xtion深度摄像头与补偿传感器融合,比仅使用IMU和光电编码器的方法在导航中能提供更准确的位置感知数据和行进航迹,可以更好地帮助移动机器人完成自主导航.
In order to improve the sensing ability of the robot in the indoor moving process,the Xtion camera is introduced as the sensor unit in the mobile robot navigation system.Based on the data fusion unit and the path planning unit,the mobile robot navigation system is designed with an on-board Xtion camera.The system also adopts IMU(Inertial measurement unit)and incremental photocoder to compensate the Xtion 3D depth camera ability within 80 cm.A data fusion algorithm of displacement and migration for robot is advanced.Finally,the robot path planning is derived by the A*path planning algorithm.Then the navigation system leads the robot moving from the starting location to the target location in the collision free motion.The experimental results show that,with the help of Xtion depth camera,the robot navigation can provide more accurate performance than only using IMU and the photoelectric encoder.The proposed method can help the autonomous mobile robot to fulfill the navigation task better.
作者
郭文强
张筱
师帅
韩阳
GUO Wen-qiang;ZHANG Xiao;SHI Shuai;HAN Yang(College of Electrical and Information Engineering,Shaanxi University of Science&Technology,Xi′an 710021,China)
出处
《陕西科技大学学报》
CAS
2018年第2期142-146,共5页
Journal of Shaanxi University of Science & Technology
基金
陕西省科技厅自然科学基金项目(2017JM6057)
陕西省教育厅专项科研计划项目(2013JK1114)
陕西科技大学博士科研启动基金项目(BJ12-03)
作者简介
郭文强(1971-)，男，陕西咸阳人，副教授，博士，研究方向：智能系统与模式识别、无线传感网络
