一种结构化道路环境中的视觉导航系统

A vision-based navigation system in structural road environment

根据结构化道路环境的特点提出了一种将边沿检测和道路环境知识相结合的机器视觉算法,并结合基于行为响应的路径规划方法和智能预瞄控制方法,实现了一套基本的机器人视觉导航系统.在自主机器人实验平台ATRV-2上的实验结果表明,该视觉导航系统能够实时理解结构化道路环境,并且能够控制机器人沿着合理路径行驶.

Combining the knowledge of structural road and edge detecting method, a machine vision algorithm was proposed to understand the surrounding environment. With the behaviorbased path planning and intelligent preview controlling, a basic vision based navigation system was created and implemented on our autonomous robot test bed ATRV2. Experimental results showed that the proposed vision based system can recognize drivable area in realtime and drive the ATRV2 along a reasonable path.