| 基于路径识别和跟踪的视觉导航 |
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| 引用本文： | 田羽,董慧颖,沈凤龙.基于路径识别和跟踪的视觉导航[J].辽东学院学报(自然科学版),2008,15(3). |
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| 作者姓名： | 田羽 董慧颖 沈凤龙 |
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| 作者单位： | 1. 沈阳理工大学信息科学与工程学院,辽宁沈阳,110168
2. 沈阳理工大学信息科学与工程学院,辽宁沈阳,110168;辽东学院机电学院,辽宁丹东,118003 |
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| 摘 要： | 路径识别和路径跟踪是轮式移动机器人视觉导航的两个关键问题,本文利用带状路径标示线的直线信息对路径进行识别,采用模糊控制器实现对路径的跟踪控制。通过仿真实验表明,该方法具有很高的实时性和很好的控制精度,能够满足轮式移动机器人视觉导航的需要。
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| 关 键 词： | 视觉导航 路径识别 路径跟踪 模糊控制 |
Vision Navigation Based on Path Recognition and Following |
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| TIAN Yu,DONG Hui-ying,SHEN Feng-long.Vision Navigation Based on Path Recognition and Following[J].Journal of Liaodong University：Natural Sciences,2008,15(3). |
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| Authors: | TIAN Yu DONG Hui-ying SHEN Feng-long |
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| Abstract: | Path recognition and path following play an important role in the vision navigation of a wheeled mobile robot.By linear information of zonal and marked line,the path can be recognized and the path following can be controlled by fuzzy control.The simulation and experiment show that this approach has good real time performance,carries out the control performance well,and can meet the needs of vision navigation for a wheeled mobile robot. |
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| Keywords: | visual navigation path recognition path following fuzzy control |
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