METHODS OF LOCAL NAVIGATION OF MOBILE ROBOTS BASED ON OF TECHNICAL VISION

  • Константин Юрьевич Дергачев National Aerospace University – «Kharkov Aviation Institute» https://orcid.org/0000-0002-6939-3100
  • Леонид Александрович Краснов National Aerospace University – «Kharkov Aviation Institute» https://orcid.org/0000-0003-2607-8423
  • Александр Николаевич Радомский National Aerospace University – «Kharkov Aviation Institute» https://orcid.org/0000-0003-3693-7500

Abstract

The analysis of existing algorithms of local navigation is given, the possibility of applying the
existing algorithms of local navigation for mobile robots with the system of technical vision is investigated. A
complex algorithm of local navigation is proposed that allows solving the problems of local navigation in
conditions of incomplete awareness of the external environment.
In the work, the functioning of the localization navigation algorithm, Laturation, was carried out. For
this purpose, a wheeled robot was built on the platform Raberry Pi 2, equipped with a video camera as a
means of technical vision. Appearance of the developed robot is shown in Fig.4. The scheme of the experiment consisted in placing the robot in a medium with known visual reference points, after which the robot
carried out recognition of visual landmarks using the algorithm of Hahr's cascades, then calculated the state
to each landmark and formed a model of space. Then, a lateration algorithm was performed to determine the
coordinates. The robot software is implemented using the Python programming language. As a means of displaying information in the work, a screen is used. To carry out the reliability of the results, the distance to
the visual reference points was measured using conventional means of measurement, and then the location of
the robot camera was calculated.
As a result of the experimental study, the following results were obtained, the accuracy of determining
the distance to the landmarks was 8%, which is due to the accuracy of determining the camera's focal length.
The accuracy of determining the coordinates of the camera of the mobile robot was 6.5%, which is acceptable for the conditions of the experiment

Author Biographies

Константин Юрьевич Дергачев, National Aerospace University – «Kharkov Aviation Institute»

Dr. of PhD, Senior Researcher, Associate Professor of the Department of Aircraft Control Systems of the National Aerospace University – «Kharkov
Aviation Institute».

Леонид Александрович Краснов, National Aerospace University – «Kharkov Aviation Institute»

Dr. of PhD, Senior Researcher, Associate Professor of the Department of Aircraft Control Systems of the National Aerospace University – «Kharkov
Aviation Institute»

Александр Николаевич Радомский, National Aerospace University – «Kharkov Aviation Institute»

Assistant of Professor of the Department of Aircraft Control
Systems of the National Aerospace University – «Kharkov Aviation Institute».

Published
2017-05-10
How to Cite
Дергачев, К., Краснов, Л., & Радомский, А. (2017). METHODS OF LOCAL NAVIGATION OF MOBILE ROBOTS BASED ON OF TECHNICAL VISION. Electrotechnic and Computer Systems, (25(101), 295-300. https://doi.org/10.15276/eltecs.25.101.2017.34
Section
Information systems and technologies

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