具有自主的全局定位能力是自主式移动机器人传感器系统的一项重要功能.为了实现这个目的,国内外均在不断地研究发展各种定位传感器系统.这里介绍了一种采用光学原理的全方位位置传感器系统.该传感器系统由主动式路标、视觉传感器、图象采集与数据处理系统组成.其视觉传感器和数据处理系统可安装在移动机器人上,然后可通过观测路标和视角定位的方法,计算出机器人在世界坐标系中的位置和方向.实验证明,该系统可以实现机器人的在线定位,其采样速率和精度能够满足实用要求.

An autonomous location-tracking ability is a major performance for locating sensor systems to navigate an autonomous mobile robot. This paper presents a vision-based omnidirectional location sensor system we have developed in our lab. It is composed of active landmarks, a vision sensor, an image and data processing device. The whole sensor system can be mounted on a mobile robot. Meanwhile, the relative calculation methods and function software were developed that used to obtain the absolute position and orientation of the sensor system and vehicles in their working places. The experiments showed this system could get its pose online and suitable position accuracy for track guidance of mobile robots as well.