| At present, with the aggravation of population aging, the number of older people isincreasing gradually. Disasters and diseases lead to the increasing number of the disabledat the same time. Therefore, the study of service robot possesses more and more importantsocial significance and economic value. The key technology of service robot is itsnavigation technology, which is also the central issue of service robot. The study in thisarticle is about obstacle recognition algorithm based on edge detection of mathematicalmorphology and path planning based on genetic algorithm. The mobile robots indoornavigation system on the base of global image processing is designed. This paper ismainly as follows:(1)Structure the hardware and software platform of the indoor walkingenvironment based navigation system. According to the indoor walking pathcharacteristics of the environment and the mobile robot system driving method, thehardware and software of obstacle recognition and path planning are designed. And buildthe indoor navigation system based on wireless communication.(2)Research the method of obstacle recognition based on mathematical morphologyedge detection. Put forward the concept named image gradation entropy, design the mostoptimal selection principle of edge detection operator and structural element, obtain theoverall edge image; detect the indoor environment by means of fast time-share recognitionof obstacle’s and mobile robot’s position information based on image feature matching.(3)Research the method of path planning based on genetic algorithm. Structure themap model of environment by means of grid, design the method of path planning based ongenetic algorithm to search the most optimal path in under the whole circumstances basedon the result of indoor environment detection and obstacle recognition.(4)Research the indoor navigation system. Experiment the obstacle recognition andtime-share path planning based on the indoor navigation system, to achieve the robot’swalking in the most optimal path under the time-share path planning during dynamicscene, and verify the effectiveness and feasibility of the system. |
