摘要
对农业自主行走机器人的单目视觉导航技术展开了研究,包括行走路径的提取方法和机器人的自定位方法。对复杂农田场景和道路场景进行了描述和合理的假设,通过对图像信息的处理和理解,采用改进的Hough变换的方法提取出导航路径,并根据导航路径信息对农业自主行走机器人的自定位技术进行了研究,最终求得机器人相对于导航路径的横向偏离和角度偏差。实验结果表明,该方法能够满足农业机器人自主行走的要求。
The visual navigation technique for agricultural mobile robot is studied,including the identification of the navigation route and the self-orientation of the robot.The complex scene on farmland and road is described and a rational supposal is brought forward： the navigation route is straight.The navigation route is identified firstly by image processing,then the position of the robot is decided based on the information of the navigation route,finally the distance and the deflection between the robot and the navigation route are ciphered out.Experimental results show that those results could satisfy the requirements of real work.
出处
《计算机工程与设计》
CSCD
北大核心
2010年第13期3032-3035,共4页
Computer Engineering and Design
