A New Method of Extraction of Mobile Robot Navigation Line Based on Edge Detection

Ji Wen Dong; Hui Ming Lv

doi:10.4028/www.scientific.net/AMR.143-144.482

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 143-144A New Method of Extraction of Mobile Robot...

A New Method of Extraction of Mobile Robot Navigation Line Based on Edge Detection

Abstract:

The extraction of ground navigation line is one of the basic technologies of mobile robot visual navigation. Due to the shortcomings of traditional Hough transform and the least square method to extract navigation line, a new method of navigation line extraction based on edge detection is proposed in this paper, which includes three stages: image preprocessing, morphology de-noising and edge detection. First, using monocular camera to collect image of navigation line laid on the ground in advance and preprocesses the collected image, and then using morphology to remove separated points and empties, finally, detects the edge of the processed image, and calculates the slope of navigation line according to the calculated midpoints, then computed the deviated angle of the robot according to the slope and adjusted in real time in order to achieve navigation. Results of experiments show that the method has good feasibility.

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Periodical:

Advanced Materials Research (Volumes 143-144)

Pages:

482-486

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.143-144.482

Citation:

Cite this paper

Online since:

October 2010

Authors:

Ji Wen Dong, Hui Ming Lv

Keywords:

Edge Detection, Gray, Median Filter, Mobile Robot, Morpholoy

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