Research on Intelligent Mobile Platform Base on Monocular Vision and Ultrasonic Sensor

摘要

In allusion to the automatic obstacle avoidance and path planning problem of the intelligent mobile robot, a kind of intelligent mobile platform based on the cooperation between the monocular vision and ultrasonic sensor was developed. This mobile platform includes the special steering gear, visual navigation control and ultrasonic obstacle avoidance control. In vision navigation module, the color space of HSV and RGB was selected as the processing object , and then split image by using morphological opening-and-closing operation and edge point filtration, detect the road information by Hough transformation. The navigation controller of mobile platform is an adaptive fuzzy PID controller. Utilize the multiple ultrasonic sensors to detect the obstacles around the mobile platform, and achieve the effect of bypassing obstacles through fuzzy controller. The simulation and experiment show that the intelligent mobile robot can turn smoothly and identify road and obstacles well and navigate stably.