An Autonomous Positioning and Navigation System for Spherical Mobile Robot

摘要

In this paper, we provide an autonomous positioning and navigation system for spherical robot. Firstly, the working principle and advantages of the spherical robot in our laboratory are described particularly. Secondly, the autonomous positioning and navigation system is presented. In this system, the GPS (global positioning system) navigation and visual navigation are used coordinately to realize their own advantages to improve the accuracy and reliability. Thirdly, in the visual navigation system, the algorithm of wavelet analysis used for the image identification to reduce image data processing amount is given, which can improve identification accuracy and efficiency. Finally, the experimental result in the spherical robot shows feasibility of the autonomous positioning and navigation system.