Study Of The Control System Of Tour Guide Robot Based On Vision Navigation

The technology of robot navigation research based on vision is quite active recently. The vision system plays the role of environmental detection and identification in the navigation research. And the vision navigation has several advantages such as probing rather wide areas, and carrying a tremendous amount of information, thus more and more research stuff pay attention to the navigation mode. It will show good prospects for development. This purpose of text is taking the tour guide robot as the research object. To make the robot move to the destination safely and finish the specified missions, we should study the composition and the control by vision navigation about the robot. The concrete content is as follows:1.With the development of the robotics industry, each country all over the world pay important attention to the robot technology. In order to research the navigation position and the target recognition about the tour guide robot, first we introduce the development of the tour guide robot simply, and analyze the key technology of the tour guide robot briefly, and then propose the purpose and significance of the robot.2. As. a result that the tour guide robot itself is a complete electrical system, consisting of moving system, sensing system, communication system, and controlling system, and so on. We highlight the composition of the robot, and analyze the function of each component, and then divide the system of the robot based on level structure.3.By analyzing the transform relations between image calibration and the world calibration, we have realized the parameter calibration of the robot vision system.The robot vision system previously processes the images which are gathered by the Logitech camera according to the knowledge of digital image processing and others, and then extract the edge by using the canny operator. We use the way of Hough transform to recognize the ground lead wire in front of the robot real-timely, and get the coordinates of the logo line. We also recognize the artificial landmarks of the robot by the mode of template matching. We mainly use BoChuang UP-VoyagerⅡas the mobile platform to carry on the research of vision navigation, in order to solve the problem about the motion control of the tour guide robot in the specified missions.4. To make the robot system has fault tolerance, and to make sure the fastness and correctness of the system information, we use the methods based on fuzzy neural networks to analyze the multi-sensor data by comparing to the way of multi-sensor fusing. After that, we achieved good results.5.The tour guide robot can be qualified to tour guides, education showing and obstacle avoidance at the exhibition rooms or museums. According to fulfill with the demand, we use Visual C++6.0 software platform to carry on comprehensive experiment, and design the human-computer interaction interface to make sure the robot can finish the specified missions safely.