摘要
本文研究了一种适用于苹果园中自主移动机器人的定位系统。该系统采用以CCD传感器为感应元件的数码相机获取苹果园场景视频信息。以作者开发的图象处理软件实现路标的提取和识别，并利用激光测距传感器测定机器人与路标的精确距离．结合以上信息，应用直接推理的路标全局定位方法，实现苹果园中移动采摘机器人的定位。仿真实验表明，该系统具有较高的定位精度和鲁棒性，定位精度介于95．6～99．0％之间，符合苹果采摘机器人定位要求。
This paper is mainly study on the locating system using in auto robot. After capturing apple grove video by CCD digital camera, this locating system extracts and recognize the signpost with the image processing software developed by author,and measures the accurate distance between robot and signposts employs laser distance sensor. Combining such information mentioned above, system apply a method we proposed for global signpost localization to locate the auto robot moving in the apple grove. Simulation experiment shows that this system is able to locate precisely and robust. The precision is between 95.6% and 99.0%, it does well in our system.
出处
《微计算机信息》
2009年第14期212-213,181,共3页
Control & Automation
