标题：Robot navigation based on laser projecting and tracking system
作者：Tian, Guohui ;Zhang, Taotao ;Li, Guodong ;Zhou, Fengyu
作者机构：[Tian, Guohui ;Zhang, Taotao ;Li, Guodong ;Zhou, Fengyu ] School of Control Science and Engineering, Shandong University, Ji'nan 250061, China
来源：Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)
关键词：In-door navigation; Laser project; Service robot; Smart space; Stability
摘要：For solving the in-door navigation problem, laser projecting and tracking system based on smart space technology was designed. 2-DOF pan tilt was fixed on the ceiling, and the laser was placed on it. The server plans the path, and generates pan tilt rotation commands. The commands were sent to the pan tilt via wireless network. Spot was projected by the laser with the motion of the pan tilt. Spot recognition algorithm and robot motion control were designed. Robot completed the navigation mission with the spot identified by the camera. The system reduced the dependence of the ultrasonic sensors and infrared sensors, and realizes fast motion of the robot. Error testing and system function experiments verifed the effectiveness of the system.