闡述了移動機器人通過視覺傳感器在不確定的環境中實現自主避障和導航的一種方法. 首先討論了路徑規劃的分層結構,然后通過簡單的圖像處理方法獲取運動環境中的避碰點,最后給出機器人實現局部路徑規劃的算法. 該方法有效地利用了全局環境地圖和視覺信息,減少了計算量,提高實時性,通過仿真研究說明了該算法的有效性和可行性.
關鍵詞:自主移動機器人;視覺系統;避　碰;路徑規劃
Abstract :The method of local path planning and navigation of mobile robot based on single visual information is in2 troduced in the paper. Firstly , the general concept of the hierarchical planning system is described. Then a method to observe the environment by single vision and a method to make an avoiding point are explained. Finally , a local path planning algorithm based on visual information is proposed . This method makes effeccive use of the vision in2
formation , reduces the scale of calculation and improves the celerity. The validity and feasibility of the method was confirmed by the simulation results and experiments.
Key words :mobile robot ;visual system; obstacle avoiding ; path planning