Research On Locomotion Control For Mobile Robot Based On Monocular Vision

With the development of science and technology, mobile robots become more and more integrated into people’s lives, one of its main application is to reach the destination or a target and complete the appropriate follow-up to the task with few human intervention. Therefore, the research of the robot navigation is an important direction. According to the mobile robot motion state in the near field environment, the image recognition methods based onHu’s invariantsare used to research the walking control of mobile robot, the searching method and running strategy for mobile robot in the near field are designed.First of all, with the needs for the task, the overall design of the mobile robot are completed, the hardware and software platform of the mobile robot are set up. The machine adopts S3C2440 as processor by using host-guest structure. Image acquisition and the sub-systemcommunication are achieved by SOCKET network programming, wireless LAN achieves that the real-time image data is transmitted to the host computer, at the same time achieves that the serial port and the motor drive plate are connected, the robot walking control strategy are achieved by the feedback information from the upper machine.Secondly, due to the diversity of the objects in the scene, the color conversion, region segmentation, gray scale, and binarization processing method can be used to get the binary images and to extract the target features. As image translation, amplification, and narrow happens in the process of mobile robot walking, the Hu’s invariants are selected as the target recognition characteristics of the mobile robot, and the feasibility of this method is demonstrated from two aspects of theory and experiment.Finally, several kinds of the range-measurements using monocular vision is analyzed 1, the method based on the area of image pixels on target for distance calibration is adopted to obtained the area of the target image under different distance, on the basis of identifying the target, the mobile robot are analyzed in the process of several walking motions, this paper introduces the target searching method, puts forward and analyzes the walking strategies under different motion state, and demonstrates the feasibility of this method.