| In recent years, with the increasing in computational speed of computing devices, advancing in imaging technology, visual navigation is becoming a trend. In the visual navigation technology, the path identification and follow is the key. It is meaningful for the mobile robot vision navigation to recognize and follow the robot navigation path accurately and fast. Therefore, this article has studied method of mobile robot vision navigation based on edge detection, main research contents are as follows:(1) This article analyse the traditional edge detection algorithm, gave improved morphological edge detection method, carried out simulation experiments and analyzed, proved that the improved morphology edge detection method has the good anti-noise performance, detail of obtained edge is rich and the continuity is good. This article has used this algorithm to process the visual image, auxiliary obtained the navigation path by the Hough transformation. In order to enhance the speed and the accuracy of detection straight line, this article has firstly carried on refinement processing to the edge image before Hough transformation detect straight line.(2) This article has analyzed the transformation relations between the image coordinate and the world coordinate, and has carried on the demarcation experiment. It maked use of angular deviation and distance deviation, designed the two input one output fuzzy controller to realize robot path following function.The theoretical study was carried out on simulation experiment and analysis, and obtained satisfactory experiment results. It proved that proposed mobile robot vision navigation method based on edge detection is effective. |
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