视觉传感系统的自主移动机器人路径规划方法  

Path planning method of autonomous mobile robot based on vision sensing system

作　　者：赵婧[1] 曹江涛[1] 

机构地区：[1]辽宁石油化工大学信息与控制工程学院,辽宁抚顺113001

出　　处：《传感器与微系统》2016年第8期44-46,50,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(61203021);辽宁省自然科学基金资助项目(2013020024)

摘　　要：在未知环境下,机器人很难快速获取周边环境信息并建立实时环境地图,实现自主运行。为此提出基于视觉导航的方法,利用全景摄像机作为机器人的视觉传感器系统采集环境信息,将彩色地图进行HSI空间下模糊聚类图像分割,得到环境二值图像;将图像进行栅格化处理来构建环境地图,运用8方向连接的Dijkstra进行全局路径规划,计算出最优路径,从而实现移动机器人的快速、自主运动。经过仿真实验证明,该方法有效且可行。It is very difficult for robot to quickly obtain surrounding environment information and establish realtime environment map to achieve autonomous operation in unknown environment. To solve the problem,present a method based on visual navigation,which uses panoramic camera as vision sensor system of robot to collect environmental information and use fuzzy clustering image segmentation to division color map in HSI space,and obtain binary image; grid processing on image is carried out,build environment map,and use 8 directions connected Dijkstra for global path planning and calculate the optimal path,so as to achieve fast and autonomous movement of mobile robot. The simulation experiments show that the method is effective and feasible.

关 键 词：机器人 视觉导航 视觉传感器 模糊聚类 环境地图 路径规划 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]