基于raspberry_Pi的AGV视觉导航设计.doc

摘要
移动机器人集人工智能、智能控制、信息处理、图像处理等专业技术于一体,成为当今机器人研究领域的热点之一。计算机视觉具有信息量丰富,信号探测范围广,获取信息完整等优点。近年来广泛应用于自主移动机器人领域,是自主移动机器人导航和避障的一个主要发展方向。
本课题研究的目的包括,设计并构建基于Raspberry Pi的视觉移动AGV控制系统,实现自主移动机器人的视觉导航功能。本论文完成如下几个方面的研究内容。机器人视觉导航图像处理算法设计,驱动部分设计,跟踪算法设计。
设计开发控制系统,实现摄像机视频流信息的获取。对于获取的摄像机的视频流信息,通过图像处理算法提取路面信息,并通过串口与下位机进行通信,下位机根据路径信息指定模糊控制算法。
本论文设计了基于视觉导航的自主移动机器人整体结构,包括机械结构和差速驱动控制系统的设计。为进一步研究基于视觉导航的自主移动机器人,提供了良好的实验平台。
关键词: Raspberry Pi;AGV;机器视觉; 串口
Abstract
Mobile robot integrates of artifical intelligen information collecting and image processing technology. It es one of the hotspot in the field of the robot research. Computer vision technology has been widly used in mobile robot for providing rich information. So it es one of the important branches in robot research field.
The purpose of this research include the design of vision-based navigation AGV system based on the Raspberry Pi platform, and the vision navigation method of autonomous mobile robot. This pleted the following a few aspects of the research content. Driven robot visual navigation image processing algorithm design, part design, tracking algorithm design.
Design and development control system, realize the camera video information retrieval. Extract the road information through the image processing algorithms , municate with the lower machine through a serial port with , lower machine specified fuzzy control algorithm according to the path information .
In this thesis, providing a vision-based navigation of autonomous mobile robots design including mechanical structure and differential drive control system design. This system provides a good experimental platform for further study of vision-based navigation of autonomous mobile robots.
Keywords: Raspberry Pi ; AGV ; Vision-based navigation ; Serial
目录
摘要 I
Abstract II
1. 绪论 1
课题来源以及背景意义 1
概述 2
导航技术 2
路径规划和路径跟踪技术 4
多传感器集成与融合 4
多机器人协作技术 5
系统平台 5
Raspberry Pi 5
Arduino 7
论文的主要内容及研究方法 8
2. AGV视觉导航