| With the continuous development of computer information science and technology aswell as intelligent robotics, the constant improvement of the theory of intelligent control andcomputer vision, robot autonomous navigation has become the hot spot of the current study.Intelligent control and visual processing algorithm has applied in the robot autonomousnavigation, which makes the area become a considerable development.This paper comes from the project of ‘Autonomous Navigation Robots InformationIntegration Platform’, short as IIP. Base on UP-VOYAGER Ⅱ robot, we have make a deepresearch on the establishment of indoor environment comprehensive information platform andthe vision-based non-visual sensor navigation.This paper first introduces the overview of intelligent robot status and the description ofintelligent autonomous mobile robot algorithm; then introduce the basic theory, these are:RS-485airborne, the main algorithms of edges retrieval technology and edge extractionmethod of images in computer vision processing algorithms.The main framework of the platform architecture is based on UP-VOYAGER Ⅱrobot. Itis divided into four different levels. They are: the user logic layer, the electronic control layer,the sensor and decision-making layer and the movement control layer. Then we introduced thehardware module of the experimental platform based on the architecture of the platform. Itcontains the motion control module, the sensor module and the visual module. C/Sarchitecture is applied in the design and realization of the experimental platform softwarearchitecture. It embodies a good encapsulation and scalability of the data.This paper proposes and implements three indoor robot autonomous navigation behavioralgorithms. These are: Robot Autonomous Navigation Behavior Algorithm based on theGyroscope, Robot Autonomous Navigation Behavior Algorithm based on PID, RobotAutonomous Navigation Behavior Algorithm based on Side-Prewitt edge detection andHough transform. This paper has embedded the algorithms in to the system platform in thespirit of modularity. At the same time we do a lot of experiments to verify the correctness andfeasibility of these algorithms. |
