Autonomous Path Travel Control of Mobile Robot Using Internal and External Camera Images in GPS-Denied Environments
Autonomous Path Travel Control of Mobile Robot Using Internal and External Camera Images in GPS-Denied Environments
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DOI：
10.20965/jrm.2021.p1284
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发表时间：
2021-12
期刊：
影响因子：
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通讯作者：
Keita Yamada;Shoya Koga;Takashi Shimoda;Kazuya Sato
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文献类型：
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作者：
Keita Yamada;Shoya Koga;Takashi Shimoda;Kazuya Sato
在这项研究中，我们开发了一个系统，用于计算之间的相对位置和角度的移动的机器人和标记使用的信息，如标记的大小的内部摄像头的移动的机器人。使用该信息，移动的机器人沿着由标记的放置给出的路径自主地运行。此外，我们提供了一种控制系统，该控制系统可以使用通过识别移动的机器人而获得的信息来跟踪轨迹，当该信息反映在外部相机中时，使用深度学习。所提出的方法可以很容易地实现自主路径行驶控制的移动的机器人在环境中无法接收GPS。几个实际的实验证明了所提出的系统的有效性。
In this study, we developed a system for calculating the relative position and angle between a mobile robot and a marker using information such as the size of the marker of the internal camera of the mobile robot. Using this information, the mobile robot runs autonomously along the path given by the placement of the marker. In addition, we provide a control system that can follow a trajectory using information obtained by recognizing the mobile robot when reflected in an external camera using deep learning. The proposed method can easily achieve autonomous path travel control for mobile robots in environments where GPS cannot be received. The effectiveness of the proposed system is demonstrated under several actual experiments.