The Intelligent Mobile Robot's Vision System And Path Following

After the first Robot was invented in 60s of 20th century,the technology of the Robot has been a industry which is promising.The Robot has deeply affected the national defence construction National economy and many ways of people's life. The technology of Robot will be the magistral technology in the new century.So empoldering the flat roof of Robot which serves to the industry and other fields and can be re-empoldered easily,has well market potentials and research vision. In this paper, the key task in the field of robot vision is to guide the pose and movement of a mobile robot based on vision information.Firstly, the history and the status of computer vision are introduced. The status and challenges of mobile robot vision navigation are discussed in detail.Secondly, using Visual C++6.0 development environment, using the mufti ultrasonic sensors and PSD sensors on the AS-R robot detects the distance between the robot and wall. A control signal was given to make the robot avoid obstacle in time by the multi-sensor information.Third, the digital images was captured, grayed, filtered, thresholded, eroded and dilated. processing and recognition of the digital images was realized.Fourth, It was proposed that using the slope of the traced line as the feedback information of the control system to solve the robot's line following problem. And a slope recognition's method was proposed based on the method of least squares (MLS), improving the precision of the slope. And then, aimed at the kinematic model of the two-wheeled mobile robot.Fifth, many experiments were carried out on the AS-R mobile robot, and the effectiveness of the proposed method was shown.At last, there are a summarize of author's research and the coming work.