一个基于摄像头的自主移动机器人在一个简单的模拟高速公路上

2011 2nd International Conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering Pub Date : 2011-12-22 DOI:10.1109/ICICI-BME.2011.6108596

Brendan A. Marcellino, E. Kuantama, S. Sofyan

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引用次数: 1

摘要

汽车自动转向技术在未来有可能降低交通事故率。作为研究的出发点，本课题设计了一种利用摄像头在两条道路线之间运行的移动机器人。为了从摄像机中检测图像中的道路线，使用了边缘检测和线检测方法。边缘检测方法中使用的核是索贝尔核。线检测是通过在边缘检测的图像结果中找到每列的最大值的坐标来完成的。两条线的交点将显示机器人的某一方向，以纠正其运动方向。这两种方法都是在由微控制器控制的轮式移动机器人上实现的。机器人可以检测微型道路线并修正其运动方向，使其能够在两条平行道路线之间运行。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A camera-based autonomous mobile robot on a simple simulated highway

The automatic car steering technology has the potential to reduce the rate of traffic accidents, in the future. As a starting point, in this research a mobile robot, which can run between two road lines using a camera is designed. To detect the road lines in the image from the camera, Edge Detection and Line Detection method is used. The kernel used in the Edge Detection method is the Sobel kernel. The Line Detection is done by finding the coordinates of the maximum value for each column in the Edge Detection's image result. The intersection of two lines will show a certain direction of the robot to correct its direction of movement. Both methods are implemented on a wheeled mobile robot that is controlled by a microcontroller. The robot can detect the miniature road lines and correct its direction of movement so that it can run between the two road lines in parallel with the lines.

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来源期刊

2011 2nd International Conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering

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