Path Recognition Algorithm of Tracking Robots Based on Image Sensor  

作　　者：韩华 曹志强 胡一帆 方易圆 黄镇 

机构地区：[1]College of Electronic and Electrical Engineering,Shanghai University of Engineering Science [2]Shandong Computer Science Center [3]Shandong Provincial Key Laboratory of Computer Network

出　　处：《Journal of Donghua University(English Edition)》2014年第2期137-140,共4页东华大学学报（英文版）

基　　金：National Natural Science Foundations of China(Nos.61272097,61305014);Natural Science Foundation of Shanghai,China(No.13ZR1455200);Innovation Programs of Shanghai Municipal Education Commission,China(Nos.12ZZ182,14ZZ156);Funding Scheme for Training Young Teachers in Shanghai Colleges,China(No.ZZGJD13006);Key Support Project of Shanghai Science and Technology Committee,China(No.13510501400);Research Startup Foundation of Shanghai University of Engineering Science,China(No.2013-13);The Connotative Construction Projects of Shanghai Local Colleges in the 12th Five-Year,China(No.nhky-2012-10);Shandong Province Young and Middle-Aged Scientists Research Awards Fund,China(No.BS2013DX021);Shandong Academy Young Scientists Fund Project,China(No.2013QN037)

摘　　要：Path recognition is an inevitable core technology in the development of tracking robot. In this paper,the path tracking system of tracking robot can be realized by image sensor module based on camera to obtain lane image information,and then extract the path through visual servo. The whole system can be divided into seven modules: micro control unit( MCU) processor module,image acquisition module,debugging module,motor drive module,servo drive module,speed sensor module,and voltage conversion module.In image pre-processing part,there is an introduction of binarization processing and the median filtering to strengthen the image information. About recognition algorithm,three key variables which are changed in the movement state are discussed and there are also many auxiliary algorithms that help to improve the path recognition.The experiment can verify that the whole system can accurately abstract the black guide lines from the white track and make the robot moving fast and stable by following the road parameters and conditions.Path recognition is an inevitable core technology in the development of tracking robot. In this paper, the path tracking system of tracking robot can be realized by image sensor module based on camera to obtain lane image information, and then extract the path through visual servo. The whole system can be divided into seven modules： micro control unite MCV） processor module, image acquisition module, debugging module, motor drive module, servo drive module, speed sensor module, and voltage conversion module. In image pre-processing part, there is an introduction of binarization processing and the median filtering to strengthen the image information. About recognition algorithm, three key variables which are changed in the movement state are discussed and there are also many auxiliary algorithms that help to improve the path recognition. The experiment can verify that the whole system can accurately abstract the black guide lines from the white track and make the robot moving fast and stable by following the road parameters and conditions.

关 键 词：complementary metal oxide semiconductor(CMOS) tracking robots path recognition BINARIZATION median filtering 

分 类 号：TP14[自动化与计算机技术—控制理论与控制工程]