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Research Of Vision Navigation Technology Used By Mobile Robot

Posted on:2008-08-08Degree:MasterType:Thesis
Country:ChinaCandidate:Q H ZhuFull Text:PDF
GTID:2178360215962021Subject:Computer application technology
Abstract/Summary:PDF Full Text Request
People have long dreamed about vehicles and machines that direct themselves. From early science-fiction literature to the March, 2003 American The courage to recent initiatives such as the Intelligent Vehicle Highway System, the autonomous, intelligent machine (or robotic system)has been one of the holy grails of technology. Mobile robots have been developed that can operate autonomously in underwater environments as well as in air and outer space. Today, advances in mechanical design capabilities, sensing technologies such as vision, computing power and image process, and intelligent algorithms for planning and control have led to the possibility of realizing true autonomous mobile robot.This article describe a vision navigation autonomous mobile robot based on embeded ARM+Linux system. Firstly The article begins by describing the structure of the system and discussing the system design in detail. Secondly it introduces how-to set the ARM+Linux development environment, and gives an example about UDP at the end of the chapter 4. Then we focus on a dynamic path planning strategy based on the rolling grid that we have developed for controlling the robot. The strategy is characterized by a single camera through which the robot can calculate the distance between the robot and the obstacle, and by which the robot can navigate itself. The effectiveness of the strategy is demonstrated by an emulational result.
Keywords/Search Tags:Navigate by vision, Measuring by single camera, Dynamic path planning, Embedded ARM+Linux
PDF Full Text Request
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