Technology -based Real Time Extension independent visual robot navigation control
|School||Nanjing University of Technology and Engineering|
|Course||Control Theory and Control Engineering|
|Keywords||wheeled mobile robot navigation based on self-vision motion control the processing and recognition of images multi-sensor information fusion|
Aimed at the AS-R wheeled mobile robot, this paper mainly studied that how to utilize Real Time Extension Technology to realize the precision control to the motion of the AS-R robot, and the navigation of wheeled mobile robot based on self-vision.Firstly, the paper built the model of wheeled mobile robot and proposed a method of using RTX software and VC++ to control the motion of robot. And then, the capture and processing of images were done through the CCD vision system and program. The recognition of road images was realized with the least squares method. The error of motion direction of the AS-R robot was calculated based on the recognition of the two lines of road. And it was given as a feedback to control the velocity of two wheels. The robot could trace the center line of roads by the feedback algorithm. At the same time, using the multi PSD sensors on the AS-R robot detects the distance between the robot and wall. A control signal was given to make the robot turn around in time by the multi-sensor information fusion algorithm. Finally, the experiments were done on the AS-R platform through the proposed control method. And the proposed method’s performance and disadvantages were analyzed.