Research on Path Planning and Obstacle Avoidance for Tunnel Mobile Robot Based on Visual Navigation
Xiaolong Zhou, Xin Wan, Xiaoxue Guo, Xinpin Li · 2016
With the development of science and technology, the mobile robot has been widely concerned at home and abroad. Great potential for mobile robot applications. Applications include automatic driving, unknown field exploration, industry and agriculture production automation, dangerous environment no work, the mobile robot control technology development will have a profound impact on human life and production. Mobile robot is an intelligent system which integrates environmental information collection, image pro- cessing and object recognition, dynamic decision and planning, motion control and so on. Mobile robot through its own sensors to the external environment of information perception, acceptance and processing, to develop a walking route, and in the process of completing the process to avoid obstacles and other acts, and ultimately complete the task. In this paper, some key problems in the path planning and obstacle avoidance for tunnel robot are studied, such as visual distance measurement, path planning and obstacle avoidance. KEYWORD: image processing; dynamic decision making and planning; tunnel robot