Design and Recognition of Two-Dimensional Code for Mobile Robot Positioning

摘要

In view of the lack of characteristics for mobile robot positioning which limits the usage of common two-dimensional codes (2-D codes for short), a new 2-D code for positioning is designed. In the new code, its square characteristics for positioning was improved, and the coding method based on Hamming code was used. The recognition algorithm for the new 2-D code under complex backgrounds was studied, which consists of binarization preprocessing, region extraction based on square characteristics and accurate calculation of positioning information. Tests indicate that the 2-D code for positioning greatly improves the positioning accuracy under the premise that its algorithm time consumption is similar to that of DataMatrix. Under the same interference, error of the new code for positioning is much less than DataMatrix in terms of the center position and the rotation angle. Meanwhile, it is able to detect and correct code value information errors, fully adapting to the task of being the basis of mobile robot positioning.