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Research on Obstacle Detection of Wall Climbing Robots Based on Multi-sensor Data Fusion

Author: HuLiang
Tutor: MaYunHui
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: Sensor fusion Obstacle detection Mean Shift Kalman filter
CLC: TP242.6
Type: Master's thesis
Year: 2011
Downloads: 37
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Abstract


Obstacle detection and localization of mobile robots has always been the key issues and hot research field . The environment of this study wall , wall-climbing robot obstacle detection based on camera and ultrasonic information fusion , its main contents include : image acquisition and camera calibration , obstructions edge extraction , distance information fusion , four-part comprehensive experimental . This paper first introduces the DirectShow main structural characteristics and procedural processes to achieve a wireless camera real-time video acquisition ; then introduce the relationship between the various coordinate lines and camera imaging model , the use of Zhang Zhengyou calibration algorithm calibration of cameras inside and outside the parameters , and combined with the actual operating experience on the calibration procedure has been described , these steps have laid a foundation for the image processing and obstacle position information calculation . This article uses a method based on region and edge information in order to determine the obstacle position : the first to use the mean shift filtering to remove noise while maintaining the edge features , good ; followed by Canny operator edge detection ; through carried out on the edge of the binarized diagram marked filter interference segments , extracted obstructions edge . The experimental results show that the algorithm has better robustness , and can effectively extract the edge of the simple wall obstructions . Distance information , we use the geometric relationship between the two ultrasonic , establish the mathematical model of the distance information with the obstacle edge line equation parameters , and by the extended Kalman filter estimates the distance information of the obstacle . Paper a detailed study and description of the important parameters of the Kalman method . The experimental results show that the obstacle distance information provided is accurate and reliable . Finally , given the obstacle detection system In this paper, the design of hardware and software platforms . The pixel information with the ultrasonic distance information acquired through the integrated image using an inverse perspective projection model , access to the obstacle represented by the pixel edge position information . Through the wall obstacle detection experiments to verify the effectiveness of the system .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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