Research on mobile robot path tracking based on color vision

摘要

According to the video path tracking problem of mobile, this paper proposes a path following approach based on a path extraction in HSI color space and fuzzy control. In this method, the color image captured by camera is converted from RGB to HSI color space, and the path is extracted by segmenting the captured image of environment by the method of optimal threshold based HIS module; Then the skeleton extraction method is used to extract the path skeleton information. Regarded the extracted path as the input of fuzzy control system, this approach uses fuzzy control strategy for robot path tracking control. The path tracking method has been successfully applied in uAgent-BioI mobile robot.