Research On Mobile Robot Path Planning Algorithm Based On Visual Image

To make a reasonable planning of its own exercise, first the autonomous mobile robots need to perceive the surrounding environment, and then make a comprehensive decision-making based on the surrounding environment information. Machine vision can provide a more comprehensive environmental information for robot, it can greatly improve the results of path planning. In this paper, autonomous mobile robots AS-R as the research object, using of robot attachment of cameras, ultrasonic sensors and just multi-sensor, machine vision perception navigation lines, ranging sensors sensing obstacles, multi-sensor data fusion have been studied. It has been achieved image processing, path identification, information fusion, decision-making control and just related issues of autonomous mobile robot navigation and avoid obstacles.A path planning algorithm based on image information and multi-sensor fusion has been studied in this paper, the main content can be divided into the following sections:1st, in the module of image processing, monocular camera was used to capture image, a suitable image process algorithm is proposed that involves graying, filter algorithm, edge detection and binary conversion. To access environmental information, HSV color space model was used to extract path. By transformation between image and world coordinates the effects caused by image distortion could be eliminated, and the parameters of the path could be obtained;2nd, based on the color characteristics of road signs to achieve the identification of path in the image , integration of odometer pose information, using the extended Kalman filter to obtain AS-R robot pose to realize mobile robot self-localization.3rd, during visual-based path planning, combined with the distance and location information between the mobile robots and obstacles , the use of fuzzy control algorithm, design a series of control rules, got rules table by the inference , queried in this table to get the mobile robot moving information, that could effectively avoiding the obstacles and achieve mobile robot path planning.The algorithm method has been proved by the simulation experiments,which is a good possibility to achieve the design requirements.