Research And Application Of Vision System For Mobile Robots

Mobile robot navigation research Based on vision system is quite active terrain recently. Images describe roundly the environment, and carry a tremendous amount of information about the scene the robot represents. It is the important artifice for robot to explore the surroundings. So the real-time image apperception is a crucial role in mobile robot navigation technique. The article mainly aim to the application of vision system in mobile robot guide and several topics have been discussed such as camera calibration, object detection based on color and recognition, robot control based on image information.We firstly give a brief overview to the development of autonomous mobile robot and the status of motive robot vision system investigation. Technical requirement and important functions have been given to mobile robot vision system based on analyzing machine vision theory and vision guide techniques.Robot vision system must constitute the relation between the spatial point and the plane point, so the camera calibration is the absolutely necessary step. A simple means has been given grounded on camera interior and exterior parameter model and lens distorted model. By image process and analysis such as mathematical morphology filtering, boundary tracking, line-simplification, we can orientate the precise characteristic point of the frame. And we use the orthonormal peculiarity of the rotation matrix of camera imaging model to get the equations with interior parameters. Experiment proved that the means can linearize the camera model and be the foundation to account out the position of target. For detect the scene around the robot, this article provide the technique grounded on color image segmentation and target location: divide the image with HSV color model; sort the segmentation result with fast image clustering; give the equations of target location for mobile robot navigation inside lab. The experiments showed this system could get suitable position accuracy for mobile robot navigation. Discuss how to solve grabbling target, location-tracking and avoiding obstacle for robot navigation and give the vision control structure. Finally, application of vision navigation system based on Pioneer2 mobile robot and pivotal techniques were given.