Research On Vision And Path Planning For Mobile Robot

With the development of information and artificial intelligence technology, the technology of autonomous mobile robot with perception, decision and movement functions is also developed quickly. Path planning is a key step of mobile robot, that is to build up a map around environment, and then based on the map, an optimal reasonable moving trajectory is established. The vision is one of main way that human learn around environment. As the same as human's eyes, the cameras with monocular or binocular are taken as one of main visual instrument to know around information, and based on the known environment model, an optimal path planning can be given.Since the accuracy of calibration parameter influences precision of mobile robot allocation directly, the visual system calibration is one of key technologies in mobile robot vision system. According to special application background of mobile robot, Z.Y. Zhang's calibration approach is used instead of traditional linear perspective projection scheme so that it is more easy to obtain the distortion parameter of the camera. Some analysis about this is given in Chapter 2.Taking account of a large number of noise signals from environment in the process to separate target and background, the HIS color model and synthesizes erosion, filter, dilation and Hough transform image processing algorithms are used so that satisfactory navigation line information is obtained. Based on some navigation line information from a monocular camera, some linear trajectory tracking tests are done, and the successful testing result are shown in Chapter 3.The realistic world is a stereoscopic 3D world, it is often happen to lose depth information in the process of getting image. For reflecting a truly stereoscopic 3D world, a scheme, which a binocular camera is used to get image with depth information, is presented in Chapter 4. The both of algorithm of characteristic points extraction and match are proposed in this chapter.Path planning is the symbol of mobile robot intelligence. The last chapter...