摘要
传统全局定位的方法对环境背景要求很高,因此提出基于QR码图形特征的移动机器人定位方法。基于QR码的轮廓层次结构特征,筛选六层轮廓得到位置探测图形的位置;利用3个位置探测图形位置构成三角形特征求解QR码的中心位置坐标和转向角;对定位方法进行实验验证并对实验数据进行分析。用此方法得到的位置误差不超过4 cm,转向角的误差不超过5°,具有良好的精确性。
The traditional global positioning method has high requirements on the environment background.Therefore,a mobile robot positioning method based on Quick Response(QR)code graphic features is proposed.First,based on the contour hierarchy features of the QR code,the six-layer contour was filtered to obtain the position of the position detection pattern.Then,the center positional coordinates and the steering angle of the QR code were solved by using the three position detection pattern positions to form a triangle feature.Finally,the positioning method was verified by experiments and the experimental data was analyzed.The position error obtained by this method does not exceed 4 cm,and the error of steering angle does not exceed 5°,which has good accuracy.
作者
王素敏
侯爱萍
袁亮
张建杰
WANG Sumin;HOU Aiping;YUAN Liang;ZHANG Jianjie(School of Mechanical Engineering,Xinjiang University,Urumqi Xinjiang 830047,China)
出处
《机床与液压》
北大核心
2019年第23期28-31,37,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(31460248
61662075)
作者简介
王素敏(1992—),女,硕士研究生,主要研究方向为移动机器人室内定位。E-mail:13009619646@163.com。;通信作者:侯爱萍(1974—),女,硕士,副教授,主要研究方向为计算机图像处理。E-mail:aphou@126.com。
