Study on the Navigation of Patrol Robot of Transformer Substation Based on Color Vision and RFID


Article Preview

The robustness and real-time performance are of the greatest significance for the navigation of the patrol robot in the transformer substation. To meet this demand, a navigation and position approach is presented in this paper based on color vision and RFID(Radio Frequency Identification) technology. In the presented system, the position information is provided by RFID tags and navigation is completed by the extraction of guidelines. Based on the deep analysis of the advantages and shortcoming of different color space, a new approach integrating the good real-time performance of grayscale image process and rich information in color images process is presented to improve the robustness and real-time performance of navigation. Fast Hough transform is selected and combined with least square method to detect the navigation line. Experimental results show that the presented method can meet the real-time and robust demand of the navigation of patrol robot.



Advanced Materials Research (Volumes 268-270)

Edited by:

Feng Xiong




S. H. Fan and D. X. Xia, "Study on the Navigation of Patrol Robot of Transformer Substation Based on Color Vision and RFID", Advanced Materials Research, Vols. 268-270, pp. 1259-1264, 2011

Online since:

July 2011




[1] DeSouza G N, Kak A C: Vision for mobile robot navigation: A survey. IEEE Trans on Pattern Analysis And Machine Intelligence, vol. 33, pp.237-267, (2002).


[2] Djekoune A Oualid, Achour Karim, Redouane Toumi: A Sensor Based Navigation Algorithm for a Mobile Robot using the DVFF Approach. International Journal of Advanced Robotic Systems, vol. 6, pp.97-108, (2009).


[3] Woojin Chung , Seokgyu Kim , Minki Choi , Jaesik Choi , Hoyeon Kim , Chang-bae Moon , Jae-Bok Song: Safe Navigation of a Mobile Robot Considering Visibility of Environment. IEEE Transactions on Industrial Electronics, vol. 56, pp.3941-3950, (2009).


[4] McFetridge L, Ibrahim M Y: A new methodology of mobile robot navigation: The agoraphilic algorithm, Robotics and Computer Integrated Manufacturing, vol. 25, pp.545-551, (2009).


[5] Rafael C. Gonzalez, Richard E. Woods: Digital Image Processing, Prentice Hall, (2002).

[6] YANG Sen, DONG Ji-wen, LU Shou-yin: Visual Navigation Method of Substation Patrol Robot. Power System Technology, vol. 33, pp.11-16, (2009) (in Chinese).

[7] Qiu Liwei Song Zishan Shen Weiqun: Kind of fast Hough transform used in line detection. Journal of Beijing University of Aeronautics and Astronautics, vol. 29, pp.741-744, (2003) (in Chinese).

[8] ZENG Jie-xian, ZHANG Gui-mei, CHU Jun, LUYu-ming: Fit Line Using A Method Combined Hough Transform With Least Square. Journal of Nanchang Institute of Aeronautical Technology(Natural Science) vol. 17, pp.10-13, (2003) (in Chinese).