摘要
文章针对环境信息不确定情况下的避障问题,利用摄像机逆透视映射原理,实现单摄像机获取环境深度信息,并提出了一种基于视觉的局部路径规划的算法,实现了移动智能机器人在不确定环境中利用视觉传感器实时获取外部信息进行路径规划,仿真与实验结果表明,移动智能机器人能快速地跟踪规划路径,实现避障。
According to the problem in obstacle avoidance of the mobile intelligent robot under uncertain environment, deep information of environment has been acquired based on inverse perspective mapping theory. Starting from the above, an algorithm for partial path design has been developed based on single vision sensor. The mobile intelligent robot can capture information in real time by using single visual sensor under uncertain environment to achieve a planning pathway. The simulation and experiment indicated that the method is feasible and valid.
出处
《四川理工学院学报（自然科学版）》
CAS
2008年第4期87-89,114,共4页
Journal of Sichuan University of Science & Engineering(Natural Science Edition)
基金
四川省教育厅重点项目(2006ZD036)
人工智能四川省重点实验室项目(2007R008)
关键词
逆透视映射
机器人
避障
inverse perspective mapping
robot
obstacle avoidance
