A patrol robot visual navigation method based on virtual calibration line

摘要

There are various ways of controlling the robot walking along the navigation line.One of the key issues focuses on estimating the robot's specific location and orientation relative to the navigation line.In this paper,a new method to locate the robot is presented based on virtual calibration lines.By proposing a virtual calibration line and comparing the navigation line obtained by means of image processing with the virtual calibration line at the corresponding position,we can obtain the deviation angle and distance relative to the navigation line.Then,a fuzzy control strategy is used to control the two wheels of the robot to walk along a navigation line.Experimental results show that this technique can effectively identify the location of robot and make the robot to go steadily along the navigation line.