CASPIAN JOURNAL

MANAGEMENT AND HIGH TECHNOLOGIES

System calibration method of local navigation of mobiles robots

2017. №1, pp. 106-115

Klimov M.A. - student, Bauman Moscow State Technical University, 5, 2-aya Baumanskaya St., Moscow, 105007, Russian Federation, klimatt.gu@gmail.com

Vorotnikov S.A. - Ph.D. (Engineering), Associate Professor, Bauman Moscow State Technical University, 5, 2-aya Baumanskaya St., Moscow, 105007, Russian Federation, vorotn@bmstu.ru

Vybornov N.A. - Ph.D. (Physics and Mathematics), Astrakhan State University, 20a Tatishchev St, Astrakhan, 414056, Russian Federation, do_vybornov@aspu.ru

In this article, there is a description of a system calibration method of local navigation of a mobile robot, based on measuring current values of absolute coordinates with help of a motionless camera and using a system nonlinear polynomials of various orders. The order of the polynomial is chosen based on the values of errors of the optical channel and the matrix of the camera. The results of experimental studies of the algorithm of calibration of the navigation system on the MR model are given. Also its configuration is shown by means of an approximated nonlinear polynomial transformation connecting the absolute coordinates of the marker onboard the MR with the pixels of its image. The experiment showed that, for a polynomial order equal to two and the use of a camera with pixel resolution 640Г—480, the error in determining absolute coordinates is no more than 7mm. The proposed method can be used to calibrate the means of local navigation based on odometric and inertial sensors, both individual MR and MR moving in a group.

Key words: мобильный робот, локальная навигация, одометрия, телекамера, нелинейные искажения, полиномиальное преобразование координат, калибровка, mobile robot, local navigation, odometric, camera, nonlinear distortion, polynomial coordinate transformation, calibrat

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