移动机器人视觉导航系统的设计与实现

Design and intelligent of mobile robot navigation system

实时、准确的提取道路信息和控制机器人的运动状态是机器人视觉导航系统的关键,针对这两点提出了一套基于ARM处理器的解决方案和控制算法,并着重研究了坐标几何校正算法和最小曲率半径算法.实践结果表明,该套算法简便有效、实时性好、可靠性高,适用于简易机器人的视觉导航.

Extracting road information real-time, accurately and controlling the motion of robot are two key technologies of the mobile robot vision navigation system. This paper proposes a kind of solutions based on ARM and control algorithms for these two parts. And focus on the coordinate geometry correction algorithm and the minimum radius-of-curvature algorithm. The results show that the algorithm is simple and effective, real-time and high reliability, so it applies to the simple visual navigation of the robot.