Trajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data
Positioning of a robot in its autonomous movement is applied to the automatic control and trajectory planning. There are two types of systems: sensed data come from physical parameters sensors and video cameras. In this paper, we consider the integration of both data sources, providing a novel way f...
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| Autores principales: | , , |
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| Formato: | article |
| Lenguaje: | EN |
| Publicado: |
FRUCT
2021
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| Materias: | |
| Acceso en línea: | https://doaj.org/article/da721393168e4f4bbd3f46d40a61e8ff |
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| Sumario: | Positioning of a robot in its autonomous movement is applied to the automatic control and trajectory planning. There are two types of systems: sensed data come from physical parameters sensors and video cameras. In this paper, we consider the integration of both data sources, providing a novel way for trajectory construction. The sensed data are collected from the IMU-sensor, camera, and Lidar. We present an architecture for collecting data from many sources and for using the data to evaluate the position of a mobile robot. The results of our early experiments confirm the feasibility of the data integration when a robot moves between special points with different sequences of actions. We also present an algorithm for the movement of a mobile robot between given points without loss of positioning accuracy at long distances. The accuracy is not only affected the Euclidean coordinates, but the orientation angle is also improved. As a result, a robot can be used in narrow indoor, where a special point can be reached only at a certain orientation angle. |
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