CAJ | 학술논문

障碍物定位与测量是智能移动机器人自主运动的核心问题之一。研究了一种结合障碍物色彩属性和接触边缘属性的算法，通过单个视觉传感器实现平坦路面中障碍物的定位和测量。该算法以图像中已知路面范围的外观属性为基准对图像进行初步处理，依据障碍物和地面接触边缘属性对障碍物进行初步定位，在障碍物上选择区域，以该区域外观属性为基准对图像进行二次处理，得到障碍物在图像中占据范围，结合视觉传感器成像原理，对障碍物位置和尺寸进行标定和测量。以轮式移动机器人为实验平台，验证所提算法的可行性和精度，最终测得其定位误差为1.6％，测量误差为1.5％。
장애물정위여측량시지능이동궤기인자주운동적핵심문제지일。연구료일충결합장애물색채속성화접촉변연속성적산법，통과단개시각전감기실현평탄로면중장애물적정위화측량。해산법이도상중이지로면범위적외관속성위기준대도상진행초보처리，의거장애물화지면접촉변연속성대장애물진행초보정위，재장애물상선택구역，이해구역외관속성위기준대도상진행이차처리，득도장애물재도상중점거범위，결합시각전감기성상원리，대장애물위치화척촌진행표정화측량。이륜식이동궤기인위실험평태，험증소제산법적가행성화정도，최종측득기정위오차위1.6％，측량오차위1.5％。
Obstacle detection and measurement is one of the key problems for the autonomous movement of intel igent mobile robot. This paper presents an algorithm based on the combination of the appearance and the contact edge which is used to detect and measure the obstacle on the flat surface using single visual sensor. In the algorithm the image is primary handled according to the ap￣pearance property of known ground surface and the obstacle position defected according to the edge property of the contact area be￣tween obstacle and ground, then the reference area on the obstacle is seleted and the image is handled again according to the ap￣pearance property of the obstacle to get the position of the obstacle in the image,final y the obstacle detection and measurement are finished according to the principle of visual sensor. The effectiveness and accuracy of the algorithm is tested and verified on a wheeled mobile robot,the error of detection algorithm is about 5 %,while the error of measurement algorithm is about 1.89 %.