輪式移動機(jī)器人的視覺導(dǎo)航和避障研究.pdf

1、合肥工業(yè)大學(xué)碩士學(xué)位論文輪式移動機(jī)器人的視覺導(dǎo)航和避障研究姓名：傅瑤申請學(xué)位級別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：張崇巍20090401StudyonVisualNavigationandObstacleAvoidanceofWheeledMobileRobotABSTRACTVisualnavigationfollowingaguidelineisatypicaloneofthenumerousapplicationsofmob

2、ilerobotInpreparingthisthesis，theAS—Rrobot，withitstwowheelsdifferentiallydriven，wastakenasthecontrolobjectaswellastheexperimentalplatformonwhichthestudyonvisualnavigationandobstacleavoidancewereperformedVisualnavigationi

3、scomposedofimageprocessingandmotioncontrol：1Inthemoduleofimageprocessing，monocularcamerawasusedtocaptureimageandtoaccessenvironmentalinformation，andHSVcolorspacemodelwasusedtoextractpathBytransformationbetweenimageandwor

4、ldcoordinatestheeffectscausedbyimagedistortioncouldbeeliminated，andtheparametersofthepathmightbeobtainedwithstraightlinesegmentsfittedbyusingleastsquares2Inthemoduleofmotioncontrol，dynamicslidingmodecontrollerandoptimalc

5、ontrollerweredesignedonthebasisofkinematicsmodelofthemobilerobottoachieveaccuratepathtrackingVisualCintegrateddevelopmentenvironmentwasusedtoimplementfunctionsineachmoduleExperimentalresultsshowedthatimageprocessingmodul

6、ehadgoodreal—timeperformanceandcouldextractthepathparametersrobustlyControllermodulehadledtherobotfollowingtheguidelineaccuratelyObstacleavoidanceiSabasicfunctionforautonomousmobilerobotFortheproblemsof”potentialfieldtra

7、ps”andtheunreachabletargettooclosetOobstacle，thisthesisusedanimprovedpotentialfieldmethodSimulationresultsverifiedthatthismethodcouldeffectivelyavoidtheobstaclesandapproachthetargetKeywords：MobileRobot；VisualNavigation；P