Research of path planning and obstacle avoidance mobile robot based on binocular vision

摘要

A system design scheme of mobile robot is proposed.The mobile robot implements the function of path-planning and obstacle avoidance.The paper explains how to percept the environment by binocular vision, how to separate the ground, background and objects by using a combination of several image processing algorithm, and how to distinguish the obstacles and target by image statistical characteristics.At the same time we plan the path by improving artificial potential field, and design a fuzzy controller and formulating a sequence of obstacle avoidance rules based on fuzzy logic.The result of the system proves that the design is feasibility and validity.The mobile robot system realize the request of the project:in the help of binocular vision sensors, planning a path dynamically and avoiding the obstacles.