Research On Mobile Robot Motion Planning Method Based On Autonomous Vision

In recent years,the world's rapid development of mobile robot research,it has begun to apply to unattended warehouse for the assembly of goods and other complex tasks.The task of mobile robots to complete program setup in an unmanned environment has become possible and has received increasing attention.In the living environment,the robot as a helper,in addition to relying on their own procedures to operate the operation,the need to identify people in the environment,on the one hand in order to avoid the human body;On the other hand,can have the autonomy to identify a person living in a room issued by the work instructions,and "in accordance with the".The visual system,as the main form of interaction between the computer and the user,provides the possibility of achieving the above functions.This paper is aimed at mobile robots with autonomous vision systems that can identify natural human limbs and are flexible and fully moving.First of all,the establishment of a four-McNamle wheel can be a full range of flexible integrated travel robot platform system.It can be completed forward,backward,left shift,right shift,45 ° oblique azimuth shift,45 ° oblique azimuth left shift,in situ zero radius clockwise roundabout,in situ zero radius counterclockwise swing a variety of travel;Secondly,we construct a body surface visual system that can identify the natural body's body language action,and propose a space vector algorithm to identify the human body's posture action,define the body action,and achieve the purpose of recognizing the action of the limb;Thirdly,the mobile robot control system based on SQL Server database server is built,and the information instruction between upper and lower computer is transmitted through the server to realize real-time instruction transfer control function;Finally,the mobile platform for visual recognition efficiency and overall control performance of the test.Experiments show that the system can effectively identify the characteristics of the body movements of the body movement,the controller can be flexible and rapid control of their own mobile robot multi-directional omnidirectional movement.The overall performance of the mobile platform meets the requirements of the plan.