Vision-based path planning for the rotation control of unicycle robot

摘要

To control the trajectory of the unicycle robot, the CCD camera has been utilized for detecting the lanes for the robot. Conventional unicycle robot can control the posture while it is moving forward and backward with a certain velocity. However it is not capable of controlling the direction to follow a given lane or to avoid an obstacle. Our proposed unicycle robot is equipped with a rotational disk to change the direction. This paper proposes a new line detecting algorithm image processing method of unicycle robot. Mask scanning method was applied to line detecting algorithm. Furthermore, unicycle robot has many fluctuations and variations. As an inevitable consequence for these conditions, there are some errors according to the position change of CCD camera of unicycle robot during line detection. To compensate these errors, homography rotation and distance compensation was used. For the results of this algorithm, unicycle robot can be operated in stable.