Mobile Robot Navigation Based on Artificial Landmarks with Machine Vision System

摘要

The paper describes machine vision system (MVS) developed by authors, which identifies artificial landmarks on images from a video camera with pan-tilt mechanism and allows to calculate the deviation of the robot from the set course. Lines limiting robot track and tags in the form of two-dimensional barcodes were selected as artificial landmarks. Designed MVS is a hardware-software complex, which includes one camera with pan-tilt mechanism and onboard computer, which implemented the software that allows to search for artificial landmarks in the environment and to identify them at the image. Also authors developed a special software provides control of the drive wheels of the robot in order to eliminate the course deviation calculated on the basis of information about artificial landmarks. The paper shows that the proposed machine vision system for mobile robot navigation is economical, have acceptable performance and can be applied in the real-time control systems for warehouse automated guided vehicles, service robots, security robots, mobile robots operating in hostile and dangerous to human health environments. environment can be the map. The map is also can be built Navigation and positioning of mobile robots with and expanded in the process of the robot motion. machine vision systems are usually carried out with In this work authors chose the method of navigating natural or artificial landmarks. The main problem of a mobile robot with artificial landmarks using a video navigating with natural landmarks is the detection camera provides the flexibility to change the route, and comparison of the characteristics of the images undemanding to the quality of flooring, low equipment from the cameras in noisy environments, changes in light cost and ease of installation, ease of implementation of of the observed scene and the impact of other adverse the algorithm in comparison with the method of the