| Robot can simulate people' s behavior in some ways and can replace people' s function. Mobile robot is a very important branch of robot research. It is a complex system that include environment detection,dynamic determination and intelligent behavior planning etc. In the visual-based mobile robot system, we can classify visual-system in to overall and stereoscopic visual. The key technology in the system includes image-information quickly pick-up,intelligent control and path planning, which are the hotspot and leading edge in the visual Servoing mobile robot. The work based on visual Servoing mobile robot in this article includes:1. Constructing system is given on stereoscopic and overall visual system. Two hardware platform are designed and the dynamic model and mobile model are given based the analyzed constructing system, and prepared math theory for the path planning.2. Stereoscopic visual system is analyzed about the mobile robot which is for the pretreatment of the image processing. Here we proposed a RGB template to locate and identification the target, which is very simple and quick.3. During the robot intelligence controlling programming, constructed hardware system based on MCU, which is used for controlling the motors on the robot.4. We proposed the path-planning algorithm in which vector locating and counterguard is considered for the target approaching.5. Last, the two platform are testified through experiment, and the result show that all the module can work with no fault, and the feasibility of image acquirement,intelligent controlling and path planning. |
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