Dead-reckoning/vision integrated navigation for mobile robot
摘要
A dead reckoning system and a vision navigation system are proposed for use in a new integrated system for robot navigation. Since the dead reckoning system uses a recurrence algorithm to determine the position, the position will be divergent in two horizontal directions with time increasing. In order to overcome this defect, a vision navigation system is used to periodically correct the dead reckoning system, and a kalman filter is used to estimate the errors of navigation and the unknown biases of sensors, and precise position and heading estimations are obtained by updating navigation errors and sensors' biases. It is concluded from the simulation results that all the navigation parameters can be obtained through kalman filtering, and the integrated navigation system proposed for robot navigation can be used in an actual robot working in a laboratory. The measurement noise analysis shows that with the distance between beacon and robot increasing, the measurement noise will increase, and in order to achieve a proper estimation accuracy, the distance should not be too great.