Visual Navigation of a Mobile Robot Based on Path Recognition

摘要

Guidance using path following is widely applied in the field of autonomous mobile robots.Compared with then avigation system with out vision ,visual navigation has obviou sadvant agesasrichin for mation ,lowcost,quietness,innocuity ,etc .Thispa perdescribe sanavigation system which uses the visualin for mation provided by guide lines and colorsigns .In our approach ,the visual navigationis composed of three main modules:image preprocessing,path recognition and path tracking .First,image pre processing module for mulatescolor models of all kinds of objects ,and establi she seachobject’ssupport throug had aptive subsam pling based binarization and mathemati calmorphology .Second ,path recognition module detects the guidelines throug hanim proved Hough trans for malgorithm ,and the detected results including guide lines and colorsign sinteg rate the pathin for mation .Fi nally ,callingd if ferent function saccording to the movement of straight going or turning ,path tracking moduleprovidesre quired in put parameters to motor controller and steering controller.The experimental results de monstrate the effectiveness and the robustness of our approach .