Navigation Method of the Transportation Robot Using Fuzzy Line Tracking and QR Code Recognition

摘要

In this paper, a navigation method using fuzzy line tracking, QR code recognition and path planning algorithm is proposed for the transportation robot. We build a grid map by attaching QR codes on a floor and using lines that are gaps between tiles. The transportation robot is developed with a camera to capture floor images that is used to detect QR code and extract lines’ parameters by applying linear equation and FIR filter. A fuzzy decision-maker is designed to solve the deviation problem occurring during a navigation process between QR codes. The QR code is used to get the current position and recognize the direction to neighbor QR codes. Finally, the D*Lite algorithm is applied to search for an optimal path from the robot position to a goal position on the grid map using QR codes. The proposed method is verified by the navigation experiments of the transportation robot in the real environment. The robot can follow the optimal path obtained from planning algorithm with high stability and accuracy.