闡述了移動(dòng)機(jī)器人通過(guò)視覺(jué)傳感器在不確定的環(huán)境中實(shí)現(xiàn)自主避障和導(dǎo)航的一種方法. 首先討論了路徑規(guī)劃的分層結(jié)構(gòu),然后通過(guò)簡(jiǎn)單的圖像處理方法獲取運(yùn)動(dòng)環(huán)境中的避碰點(diǎn),最后給出機(jī)器人實(shí)現(xiàn)局部路徑規(guī)劃的算法. 該方法有效地利用了全局環(huán)境地圖和視覺(jué)信息,減少了計(jì)算量,提高實(shí)時(shí)性,通過(guò)仿真研究說(shuō)明了該算法的有效性和可行性.
關(guān)鍵詞:自主移動(dòng)機(jī)器人;視覺(jué)系統(tǒng);避　碰;路徑規(guī)劃
Abstract :The method of local path planning and navigation of mobile robot based on single visual information is in2 troduced in the paper. Firstly , the general concept of the hierarchical planning system is described. Then a method to observe the environment by single vision and a method to make an avoiding point are explained. Finally , a local path planning algorithm based on visual information is proposed . This method makes effeccive use of the vision in2
formation , reduces the scale of calculation and improves the celerity. The validity and feasibility of the method was confirmed by the simulation results and experiments.
Key words :mobile robot ;visual system; obstacle avoiding ; path planning