CAJ | 학술논문

针对机器人驾驶汽车在未知复杂环境下行驶的问题，提出一种基于图像的辅助实现机器人驾驶车辆的方法。根据机器人驾驶过程中所拍摄的路面图像，在图像中取一点作为车辆行驶的目标位置点；根据此点的位置，计算出车辆行驶时的转弯半径；对方向盘转角与转弯半径之间的关系进行曲线拟合，计算得出方向盘的转角；根据转角信息在图像上画出可供参考的车辆可行驶辅助线。本文算法利用 matlab 进行了仿真研究，实验结果表明，采用这种方法获取辅助线能够较为准确的作为车辆行驶的参考，为辅助机器人驾驶车辆行驶带来了很大的便利。
침대궤기인가사기차재미지복잡배경하행사적문제，제출일충기우도상적보조실현궤기인가사차량적방법。근거궤기인가사과정중소박섭적로면도상，재도상중취일점작위차량행사적목표위치점；근거차점적위치，계산출차량행사시적전만반경；대방향반전각여전만반경지간적관계진행곡선의합，계산득출방향반적전각；근거전각신식재도상상화출가공삼고적차량가행사보조선。본문산법이용 matlab 진행료방진연구，실험결과표명，채용저충방법획취보조선능구교위준학적작위차량행사적삼고，위보조궤기인가사차량행사대래료흔대적편리。
In this paper we present a kind of auxiliary line access method based on image approach to help humanoid robots driving a car in a complicated unknown environments. According to road image taken during driving robot , a point was picked as the next point of the robot driving. According to the location of this point, calculate turning radius. On the steering wheel angle and the turning radius curve fitting, steering wheel angle calculated; According to the Angle of information and draw the vehicle auxiliary line on the image. This algorithm simulated on matlab environment, experimental results show that this method can obtain more accurate auxiliary lines as a reference when the vehicle driving, and bring great convenience to assist the robot successfully driving the vehicle.