Trajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data

Abstract

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.

Keywords

• autonomous movement
• robotics
• physical parameter sensor
• video data
• data fusion
• mobile robot positioning