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控制巡检机器人沿着导航线移动,关键技术之一就是准确判断机器人相对于导航线的方位和距离。本文提出了一种新的定位导航线技术,即引入虚拟定标线,将图像处理后检测到的导航线与相应位置的虚拟定标线进行比较,从而获得机器人相对于导航线的实际偏离角度和距离,进而利用模糊控制策略,对机器人沿着导航线的行走进行控制。实验表明,该算法能准确实现机器人的定位,控制机器人沿着导航线行进。
Controlling the robot to move along the navigation line, one of the key technologies is to accurately determine the orientation and distance of the robot relative to the navigation line. This paper presents a new positioning navigation line technology, that is, the introduction of virtual calibration line, the image processing to detect the navigation line and the corresponding position of the virtual calibration line to get the robot relative to the actual deviation of the navigation line angle And distance, and then use fuzzy control strategy, the robot along the navigation line to control walking. Experiments show that the algorithm can accurately locate the robot and control the robot to move along the navigation line.