Research on a calculation method of the driving trajectory of mobile robot based on halcon
Taipeng Hang, Haiyan Hu, Zhang Renhui, Yan Qifeng, Yongsi Fu · 2019
For the magnetic stripe, ribbon, two-dimensional code and other navigation methods, it is necessary to paste the identification mark on the ground. The paper uses machine vision technology to detect the ground features and obtain the driving trajectory of the mobile robot, lays the foundation for related research on mobile robots based on ground feature navigation. A method based on Forstner algorithm and RANSAC algorithm combined with calculation functions of pixel points' position informations is proposed. The image acquisition system is calibrated, the feature points in the images are extracted, the feature points in the adjacent images are matched, and the relative position informations of the two images are calculated by using the calculation functions of position informations based on the pixel points, thereby forming the driving trajectory of the mobile robot. The experimental results show that the appropriate threshold can be selected to calculate the center coordinates and deflection angles of the images, and the center coordinates and deflection angles can constitute the driving trajectory of the mobile robot. The feasibility of the method is verified.