辅助实现机器人驾驶车辆的研究与仿真  

Research and Simulation of Assist Robot Driving Vehicle

作　　者：杨琼琼[1,2] 孔斌[2] 朱勇军[1,2] 

机构地区：[1]中国科学技术大学信息科学技术学院,合肥230027 [2]中国科学院合肥智能机械研究所,合肥230031

出　　处：《计算机系统应用》2014年第12期154-159,共6页Computer Systems & Applications

基　　金：中科院合肥物质科学研究院"十二五"重点培育方向课题

摘　　要：针对机器人驾驶汽车在未知复杂环境下行驶的问题,提出一种基于图像的辅助实现机器人驾驶车辆的方法.根据机器人驾驶过程中所拍摄的路面图像,在图像中取一点作为车辆行驶的目标位置点;根据此点的位置,计算出车辆行驶时的转弯半径;对方向盘转角与转弯半径之间的关系进行曲线拟合,计算得出方向盘的转角;根据转角信息在图像上画出可供参考的车辆可行驶辅助线.本文算法利用matlab进行了仿真研究,实验结果表明,采用这种方法获取辅助线能够较为准确的作为车辆行驶的参考,为辅助机器人驾驶车辆行驶带来了很大的便利.In this paper we present a kind of auxiliary line access method based on image approach to help humanoid robots driving a car in a complicated unknown environments. According to road image taken during driving robot, a point was picked as the next point of the robot driving. According to the location of this point, calculate turning radius.On the steering wheel angle and the turning radius curve fitting, steering wheel angle calculated; According to the Angle of information and draw the vehicle auxiliary line on the image. This algorithm simulated on matlab environment,experimental results show that this method can obtain more accurate auxiliary lines as a reference when the vehicle driving, and bring great convenience to assist the robot successfully driving the vehicle.

关 键 词：机器人驾驶 运动轨迹 辅助线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]