Paper Title:
Trajectory Recognition and Navigation Control in the Mobile Robot
| Periodical | Key Engineering Materials (Volume 464) |
|---|---|
| Main Theme | Functional Manufacturing Technologies and Ceeusro II |
| Edited by | Long Chen, Yongkang Zhang, Aixing Feng, Zhenying Xu, Boquan Li and Han Shen |
| Pages | 11-14 |
| DOI | 10.4028/www.scientific.net/KEM.464.11 |
| Citation | Chun Hui Yang et al., 2011, Key Engineering Materials, 464, 11 |
| Online since | January, 2011 |
| Authors | Chun Hui Yang, Fu Dong Wang |
| Keywords | Hough Transform (HT), Line Detection, State Deviation, Trajectory Tracking |
| Price | US$ 28,- |
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Abstract
Fast and accurate acquisition of navigation information is the key and premise for robot guidance. In this paper, a robot trajectory guidance system composed of a camera, a Digital Signal Controller and mobile agency driven by stepper motors is given. First the JPEG (Joint Photographic Expert Group) image taken by camera is decoded and turns to correspond pixel image. By binarization process the image is then transformed to a binary image. A fast line extraction algorithm is presented based on Column Elementary Line Segment method. Furthermore the trajectory direction deviation parameters and distance deviation parameters are calculated. In this way the robot is controlled to follow the given track accurately in higher speed.
