| The speedy of life pace and the wealthy of material life makes intelligent robot gradually came into our daily life and work.The trend that people have to interact with robot in different intelligent degree becomes more and more inevitable.However,with the increased number of opportunities for robots to participate in human work,because of robots’ defects and instability,there are lots of cases of human damage caused by robots.Therefore,the research of robots is very important.This thesis mainly refers to the research on environment modeling,obstacle detection,map-building and hardware development of measurement and control system.The research findings are as follows:1.Stereo vision correction and inverse perspective transformation.For binocular camera configuration,calibration of its internal and external parameters,through the internal and external parameters of the three pairs of image correction;Perform a perspective change calibration of the camera to complete the inverse perspective transformation and obtain a bird’s eye view of the current environment.The result shows that this method can complete the preparatory work of environmental modeling.2.Research on the Improvement of Classical 3D Reconstruction.This paper presents a three-dimensional reconstruction method based on image enhancement,and it can significantly enhance the classic three-dimensional reconstruction of the operation speed and effect;At the same time,this paper compares the four image enhancement algorithms to optimize the speed and effect of classical 3D reconstruction.The result show that the improved algorithm of AC image is the best for the classical three-dimensional reconstruction method.3.Research on Map Construction and Route Planning.In this paper,we use the ICP point cloud registration algorithm to register the three-dimensional spatial point cloud obtained in two positions of binocular camera,through the transformation between the two positions to complete the three-dimensional point cloud splicing,build the current environment map;the behavioral path planning method based on contact time is used to plan the mobile robot path of the obstacle discrete points obtained in 3D point cloud,in the MATLAB environment for simulation experiments,planning a safe,collision-free path.The research shows that this method can complete the map creation and path planning requirements.4.Aiming at the mobile robot developed by the research lab,the experimental scheme and the development experiment platform are constructed.Gyroscope for data acquisition and analysis,the mobile robot for a simple straight,turning test experiments,The final completion of mobile robot movement along the planning path. |
