基于嵌入式的移动机器人导航算法研究

针对移动机器人视觉导航中路径识别和路径跟踪问题，采用S3C2440嵌入式处理器处理摄像头传感器采集的路径环境信息，实现移动机器人在有引导路径的情况下自主导航。首先，用小波分析的方法进行图像增强和滤波，数学形态学反复开关滤波去除路面上的杂质，其次，针对单路径和交叉引导路径分别采用基于阈值化和形态学方法提取中心点，最后，加权最小二乘法计算导航参数。实验结果表明，该导航算法具有较好的实时性和准确的控制精度，能够满足机器人视觉导航的需要。

Mobile Robot Navigation Algorithm Based on Embedded Processor

Path detection and path recognition play an important role in the vision navigation of mobile robot.In order to implement Robot autonomous navigation,the embedded processor S3C2440 is used to process the environment information from the camera.First,wavelet analysis enhances the image and filters,opening and closing filter of Mathematical Morphology realizes to remove impurities,second,threshold and mathematical morphology are used to extract center points for the sing and cross path,finally,the weighted least square method calculates the parameters,which will realize the robot to navigate.