Region-wide Coverage Boundary Identification Of The Mobile Robot

This paper based on the region-wide coverage robots, mainly research how do they identify the boundary of the work area when they work. In this paper,the robot uses visual sensors and photoelectric encoder and electronic compass to establish "map information";when it works,it gets position fom sensors to compare with "map information" to detect whether the robot is reaching the boundary. In the course of its boundary identification,the robot uses visual navigation to identify and track the boundary lines,uses lines to detect its own positions and corrects wrong positions.Fist, say the method about the identification of boundary,research how the robot identifies doundary with the visiual sensors;then establish visual model,and get the relationship between the robot's positions and the image coordinates;then research methods of image processing:filtering,enhancing,threshold segmentation,morphological operations and so on,after these finishing these methods,get boundary lines in the image through Hough transform, and get the boundary lines with the corresponding robot's positions;at last,design the image acquisition and processing system, as well as the boundary identification system.This method uses lines to detect the robot's positions, improves the accuracy of the robot's positions, reduce the missing cut area after once covering, saves region-wide coverage's time, and has a certain value.