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针对大范围半未知环境下的机器人导航问题,基于认知理论提出了“分布式导航信息获取模式”。采用二维码技术设计了一种新型人工地标,并给出了其识别及识读的方法。通过在关键点位置配置不同的人工地标,基于导航信息的分布式表达,将大范围半未知环境下的机器人导航划分为全局引导层和局部搜寻层,使机器人在大范围半未知环境下的导航摆脱了传统的地图创建-全局定位-路径规划模式的限制。实验验证了该导航方法的有效性。
Aiming at the problem of robot navigation in a large area of semi-unknown environment, a “distributed navigation information acquisition mode” is proposed based on cognitive theory. A new type of artificial landmark is designed by using two-dimensional code technology, and the method of identifying and reading is given. By arranging different artificial landmarks at key points and dividing the robot navigation into a global guide layer and a local search layer based on the distributed expression of the navigation information, the robot navigates in a wide range of semi-unknown environments Get rid of the traditional map creation - global positioning - path planning model restrictions. Experiments show the effectiveness of the navigation method.