Research on Reliable Path Planning of Manipulator Based on Artificial Beacons

In order to solve the problem that manipulators can only move in a fixed trajectory in common industrial production at present, we propose a monocular visual positioning method based on artificial beacons, combining visual position technology with the movement of manipulators to complete the reliable path planning of manipulators. When it comes to practicability, the traditional point pair-matching method is equipped with robust factors, to increase the reliability. We adopt a linear predict algorithm and ROI (region of interest) in the solving of PnP (Perspective-n-Point) to ensure the real-time performance and improve the robustness. Finally, the reliability is verified by experiments, which provides theoretical basis and practical reference for the path planning of manipulator based on artificial beacons.