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The Research of Mobile Machine Vision Navigation and Obstacle Avoidance System

Author: QiuGuangPing
Tutor: JinLianWen;LiXin
School: South China University of Technology
Course: Electronics and Communication Engineering
Keywords: Visual Navigation Automatic Tracing Infrared Sensor PID control algorithm Autonomous obstacle avoidance
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 61
Quote: 0
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Abstract


With the development of technology, we developed the machine to complete the tedious and dangerous work, or works not suitable for human. The mobile machine is an important branch of the Robot subject, mobile machine is a highly self-planning, self-organizing, adaptive and autonomous obstacle avoidance, and work for complex environment. Currently, with GPS navigation and obstacle avoidance of autonomous mobile machines have a wide range of applications in industrial, space development, health care, housekeeping services and other industries.In this thesis, we propose a system for the mobile machines, by infrared distance sensors to locate their own assessment of the design of road signs; near-infrared light to get through the traffic of the near-infrared imaging of the machine to navigate; and also the use of infrared distance sensors for road conditions in the obstacle distance information, to establishment of autonomous obstacle avoidance system.To point against the positioning and navigation problems for mobile machine, the system is equipped with panoramic near-infrared illuminator, and proposes a roadmap based on local feature matching identification methods, develop a visual navigation system of natural unstructured environments with high robustness. This technique can be applied with a single camera and multi-camera mobile agent, including robotics, intelligent vehicles, unmanned airship, and group robots.The design uses a modular robotic system, focus on the design and implementation of sensors and control algorithm. Design and implement the control algorithms in the programmable system on chip (PSoC) device.In order to improve the autonomy of mobile machine, we use infrared distance sensors to complete the independent obstacle avoidance strategy in an unknown environment. Installed three diffusion reflective infrared sensors at the bottom of the machine, and set another group of infrared emitters in the front, a corresponding set of back-end IR receiver and two ultrasonic sensors at the back. During operation, the microcontroller reads the three continuously tracing status of the infrared sensor signals to control the two motors with high and low speed, in order to achieve such as turning and driving straight state.

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