Mobile Robot's Road Following Based On Color Vision And Fuzzy Control

Vision navigation is being a developing trend of mobile robot's navigation recent years. How to recognize man-made road or natural "road" rapidly and exactly by using vision technology and how to improve the mobile robot's road following ability are crucial problems in the study of mobile robot's vision navigation. In this thesis, a road following method based on color vision and fuzzy control is provided, meanwhile, the mobile robot's vision technology and road following strategies are systematically and thoroughly studied. The main work and innovative ideas include:The structure of HEBUT- I mobile robot is introduced. Furthermore, the driving system's characteristics and the kinematic features of the mobile robot are analyzed.The vision system of HEBUT- I mobile robot is designed. The modeling of camera and the conversion between image coordinate and vehicle coordinate is completed, which makes the road information revert from the image space. Experiments on image segmentation are done and a method of image segmentation based on HS1 color threshold is used for mobile robot's road image segmentation. The image segmentation method based on HSI color threshold has many advantages: strong antinoise ability, using more information during image processing, perfect segmentation result without being affected by illuminative condition, and simple calculating process. AH these advantages improve the segmentation speed and veracity of complicated road image.The basic principle of fuzzy control is introduced, and a fuzzy controller fitting for vision -guided mobile robot's road following system is designed.The mobile robot's road following system is designed. Man-made guiding road and road signs are laid on the ground, which simplifies environment. The road and road signs have two different colors, and two different HSI color threshold coming from offline experiment are used for road image segmentation. Therefore, the complicated processes of determining threshold and distinguishing the road and road sign area are avoided and the real-time capability is improved. The road and road sign are recognizing by linear scanning method and invariant quadrature method after judging the integrity of road signs in the image. This recognition method has well real-time capability. The different road following strategies beingused after recognizing road and various road signs are studied, and the lag of vision system is corrected. Many experiments on the system are done, and the results indicate that the mobile robot's road following method in this paper is an effective and convenient method.