基于搜索算法、边缘检测器和GPS数据/卫星图像的户外移动系统路径规划算法

2012 IEEE 10th International Symposium on Applied Machine Intelligence and Informatics (SAMI) Pub Date : 2012-06-01 DOI:10.1109/SAMI.2012.6208987

K. Židek, E. Rigasová

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引用次数: 5

摘要

本文研究了将搜索算法、卫星地图图像数据与边缘检测相结合进行轨迹规划的方法。呼吸优先算法用于创建移动平台运动到完成状态的理想轨迹路径。GPS数据用于卫星地图上起点和终点的选择和设备实际位置的获取。利用卫星图像数据进行障碍物检测，利用图像边缘检测器检测建筑物。根据边缘检测器分析仪的数据实现虚拟网格图的不可达位置。为了在实际平台上实现该算法，需要使用局部传感器(红外、超声波)进行运动过程中的动态障碍物检测和轨迹重建。本文介绍的算法是针对高城市化地区特定未知环境下智能导航设备的可用性问题而设计的。

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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Path planning algorithm based on search algorithm, edge detector and GPS data/satellite image for outdoor mobile systems

The article deals about combination of search algorithm, satellite maps image data with edge detection for trajectory planning. Breath first algorithm is used to create ideal trajectory path for mobile platform movements to finish state. GPS data are used for selection start and finish point and acquiring of actual position of device on satellite maps. Satellite image data are used for obstacles detection by image edges detector to detect buildings. Virtual grid map is fulfilled with unreachable position according of data from edge detector analyzer. For real implementation of algorithm in real platform it is necessary to use local sensors (infrared, ultrasonic) for dynamic obstacle detection during movement and recreating trajectory. Introduced algorithm is specialized for usability in intelligent device for navigation in particular unknown environment in high urbanized areas.

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来源期刊

2012 IEEE 10th International Symposium on Applied Machine Intelligence and Informatics (SAMI)

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