Research On Autonomous Robot Path Planning Based On Machine Vision

Autonomous robot is an integrated system with a variety of functions such as environment-aware, dynamic decision, behavior control and implementation, which embodies the development level of information technology and artificial intelligence technology. With the development of computer and artificial intelligence technology, autonomous robot is developing towards high speed, high-precision, open, intelligent and network-based. However, in some poor conditions such as mine, pipeline maintenance, the autonomous robot replacing hand manipulation is able to guarantee public safety and reduce labor intensity as well as improving economic efficiency, which brings great convenience for human society.Autonomous robot must apperceive surrounding environment information as humans first, and then make integrated decision in accordance with the surrounding environment to make a reasonable plan for their moving, namely, path planning problem. Machine vision provides richer and more comprehensive environmental information, which would improve the planning results if it is added into autonomous robot's path plan. The thesis, on the background of autonomous robot, researches on the image processing, geometrical positioning, path planning, control strategy and so forth by employing the machine vision to perceive the navigation line and obstacles and ultimately navigating and avoiding obstacles automatically.This paper focuses on several algorithms of machine vision image pre-processing. The author adapts Roberts operator for edge detection, which extracts the navigation line and the contour of obstacles after analyzing and comparing the effect of edge detection using some differential operators. The author puts forward a method of geometrical positioning based on congruence interval sampling according to the camera's projection model.In order to verify the algorithm under research, an autonomous tracked robot is independently developed. The thesis introduces general design of autonomous tracked robot, mechanical parts design flow and the whole process of processing, production, installation and debugging. It presents the design and producing of each circuit module based on DSP, sets up an integrated autonomous tracked robot hardware system, introduces software system design idea, and shows the flow chart of the software modules. In accordance with the analysis of the movement of autonomous tracked robot and its turning mathematical model, as well as navigation line perception and obstacles positioning, the author designs automatic tracking and fuzzy obstacle avoidance strategies.In the end, the author tests the algorithms on the autonomous tracked robot.