机器人2011，Vol.33Issue(6)：742-749,757,9.DOI:10.3724/SP.J.1218.2011.00742
一种基于受限自然语言处理的移动机器人视觉导航方法
A Visual Navigation Method of Mobile Robot Based on Constrained Natural Language Processing
摘要
Abstract
Based on studying the basic law of the Chinese natural language representation of path (NLRP), a visual navigation algorithm based on constrained natural language for indoor environments is designed through establishing the imagery map for mobile robot navigation. Firstly, landmarks are extracted from constrained Chinese text, relative directions and distances among the landmarks are obtained, and then those landmarks are mapped onto the imagery map. Secondly, key boot points, by which the path is divided into several segments, are extracted to realize the path planning of the mobile robot. For each segment, the matching degree of SURF (Speeded-Up Robust Feature) feature points between the referenced object's real-time pictures and sample pictures in the database is calculated, and the data of odometer are fused to ascertain the approximate location of the mobile robot. Then, based on the approximate location obtained in the previous segment, the running direction in the next segment is calculated, and the robot will run along it. The calculation and movement go analogically till the last segment. Experiment results demonstrate the feasibility, validity and robustness of the method.关键词
NLRP/受限汉语/智能机器人/视觉导航Key words
NLRP (natural language representation of path)/ constrained Chinese/ intelligent robot/ visual navigation分类
信息技术与安全科学引用本文复制引用
李新德,张秀龙,戴先中..一种基于受限自然语言处理的移动机器人视觉导航方法[J].机器人,2011,33(6):742-749,757,9.基金项目
国家自然科学基金资助项目(60804063,61175091) （60804063,61175091）
江苏省自然科学基金资助项目(BK2010403):图像信息处理与智能控制教育部重点实验室开放基金资助项目(200902) （BK2010403）
东南大学优秀青年教师教学、科研资助计划资助项目(3208001203) （3208001203）
东南大学创新基金资助项目(3208000501). （3208000501）
