CAJ | 학술논문

针对运行方向上导航目标本身不具有明显视觉特征的情况,提出了一种新的视觉导航方法.该方法利用环境中与目标位置关系已知的显著特征点作为参考点,根据参考点的成像位置确定系统运动的姿态调整量,实现机器人运行方向的导航.为了提高算法对环境的适应能力,该算法只利用一个参考点,具有结构简单和计算复杂度小等特点.实验结果表明,该文方法能够有效地消除导航过程的方向误差,能够配合位置导航装置实现机器人的方向导航,具有较高的实用性和稳定性.
침대운행방향상도항목표본신불구유명현시각특정적정황,제출료일충신적시각도항방법.해방법이용배경중여목표위치관계이지적현저특정점작위삼고점,근거삼고점적성상위치학정계통운동적자태조정량,실현궤기인운행방향적도항.위료제고산법대배경적괄응능력,해산법지이용일개삼고점,구유결구간단화계산복잡도소등특점.실험결과표명,해문방법능구유효지소제도항과정적방향오차,능구배합위치도항장치실현궤기인적방향도항,구유교고적실용성화은정성.
According to the target with no significant visual features,a novel vision navigation method is proposed.In the vision heading navigation,the salient feature point with known relative position to the target is chosen as the reference point.And the pose adjustment quantities of the robot are determined according to the image of the reference point.To improve the environmental adaptability,this algorithm uses only one reference point and has the advantages of simple structure and low computation complexity.Experimental results show that the vision navigation method combined with the location navigation device can eliminatethe pose errors effectively,and the applicability and stability of the method are verified.