农业机器人避障算法的研究  

The Research of Robot Obstacle Avoidance Algorithm

作　　者：赵珊[1] 崔天时[1] 

机构地区：[1]东北农业大学电气与信息学院,哈尔滨150030

出　　处：《农机化研究》2014年第1期91-94,共4页Journal of Agricultural Mechanization Research

基　　金：东北农业大学博士启动基金项目(11553039)

摘　　要：为了保证农业自主移动机器人能够在非结构的农田环境下灵活自主的行走,一个关键的技术就是能够准确地判断农田中障碍物的方位以及机器人与障碍物之间的相对位置,从而选择正确的路径。为此,提出了一种距离传感器结合图像边缘检测技术的避障算法,通过超声波测距传感器与PSD(位置敏感传感器)红外测距传感器对农田中的障碍物进行检测,利用CCD摄像头采集机器人所处农田环境中的图像信息并在Linux系统中利用OpenCV函数库进行图像处理,得到图像的边缘信息,从而判断出可行的路径。In order to insure that the agriculture autonomous robot can walk flexibility in an unknown environment, a key technology is Obstacle avoidance algorithm which is able to judge the orientation of the obstacle accurately, and the rela-tive position between the robot and an obstacle, then a correct path will be selected for robot. This paper presents an ob-stacle avoidance algorithm that includes distance sensor and image edge detection technique. The obstacle is detected by the ultrasonic distance sensor and the PSD （position sensitive sensor） infrared distance sensor , the images information of the surroundings is collected by CCD camera. Then the image will be processed by OpenCV library in Linux system to get the image edge information. At last, a feasible path will be determined.

关 键 词：农业自主机器人 距离传感器 图像处理 边缘检测 避障 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]