A Tracing Method For Mobile Robot Based On Boundary Features Of The Environment

Mobile robot track tracing technology is an important research direction in the field of intelligent robots in the twenty-first century. The visual guide method is a significant branch,which has become a key technology and a hotspot about mobile robot track tracing,owing to vision sensors' special advantages than other sensors. In the last two decades,with the rapid development of computer image processing technology and digital imaging equipments improving the cost, more and more people study visual navigation technology. Most of track tracing robots are working in typical boundary environment now, so it has theoretical and practical significance to study a kind of track tracing robots working in the environment with boundary feature.This paper studies the history of visual guidance technology about track tracing robots,and carries out a study on mobile robot visual guide track tracing in the environment with boundary characteristics on the basis of existing research results, by image processing technology and robotics navigation principle. It proposes a method using the extracted ground skirting as route guidance signs for visual guidance, and robots trace track by looking for signs. Experiments show that it is correct. This article does some improvements on the existing robot track tracing methods,when the robots go into the dead zone,it can execute a command automatically to return to the normal trajectory.In this paper, the key for mobile robot vision guidance is to extract the guide signs. The first is to capture the environment for real-time through robot's monocular camera, then after image processing method, such as image pre-processing, edge detection, Hough transform, to extract straight lines in the environment. Finally,extract linear combination of ground baseboard on behalf of signpost search strategy, combining the features characterized by skirting in an environment with boundary, so as to get navigation signposts.The method of mobile robot tracing track presented in this paper has a large value,can be widely used in the environments with boundary features, such as auto transport materials in the Industrial production, drug transmission in hospitals and so on. It has important practical application prospects.