Research On The Mobile Robot's Movement And Positioning

This thesis studies a mobile robot's movement and positioning. A robot can locate itself within a referenced frame which is built according to vanishing points, compute the local environment around itself using Yeap and Jefferies' cognitive map computing theory, and make a planning for the path of an autonomous movement. There are two kinds of image processing techniques involved in this process of mobile robot's movement and positioning: one is the Canny edge detection, and the other is line detection using Hough Transform. So the thesis first analyzes how to select the parameters for both image processing techniques in practice and gives a conclusion. Second, the thesis discusses how to locate the robot within the reference frame built up according to a pair of vanishing points, a new method is proposed for computing the vanishing points by a sine curve fitting in the Hough space is proposed. Third, the thesis studies how the mobile robot to decides the next to go and the strategy. Last, the thesis studies the optimal path planning, that is, plan an optimal path for the robot to move from the specific entrance of the building to the destination assigned in advance.