V.F. Filaretov - D.Sc. (Eng.), Professor, Head of Laboratory Robotic systems, Institute of Automation and Control Processes FEB RAS, Head of Department Automation and Control, Far Eastern Federal University (Vladivostok). E-mail: filaret@pma.ru D.A. Yukhimets - Ph.D. (Eng.), Senior Research Scientist, Laboratory Robotic systems, Institute of Automation and Control Processes FEB RAS (Vladivostok). E-mail: undim@iacp.dvo.ru A.A. Novitsky - Post-graduate Student, Laboratory Robotic systems, Institute of Automation and Control Processes FEB RAS (Vladivostok). E-mail: alexzander@iacp.dvo.ru

In this paper the method of development of navigation system for mobile robots on the base of data fusion of sensors data and video is proposed. It allows increase the accuracy of navigation system when global navigation system is unavailable. The typical webcam is source of video data. The algorithm of navigation system consists of two stages. On the first stage after image processing the data about robot movement and on the second stage the data fusion of this data with data from onboard sensors is doing. On the first stage after the image processing the data about robot movement is formed and on the second stage the data fusion of this data with data from onboard sensors is doing. The carried out of experimental researches confirm the high efficacy and accuracy of proposed algorithm. Using only on-board sensors and video cameras only as a navigation system mobile robot gives unsatisfactory results, as well as MR-pathing obtained based on the model using the program signals only. The error position detection for the trajectory using only onboard sensors was up to 20 cm, and using only the camera - up to 30 cm. The use of the proposed method of interconnecting the signals received simultaneously from naviga-tion sensors, and from the camera MP, has allowed to determine its current position with much greater accuracy, in which error in deter-mining the coordinates did not exceed 5 cm.

 

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