Application of Path Planning and Image Processing for Rescue Robots

摘要

The objective of this study was to integrate different position sensors and a camera in a wheeled mobile robot (WMR) for use in a rescue task. A differential global positioning system (DGPS) was used to locate the WMR position and the goal position. A laser sensor was utilized to detect the locations of obstacles and edge values. The edge values were applied to the A * algorithm to search for the shortest path for the WMR. While searching for a target, a webcam was used to capture images of the surroundings. Color segmentation was achieved and the desired color was captured. The captured color target was then used for tracking control of the rescue task. The A * algorithm, together with image processing and laser sensors, was able to obtain the shortest path to the desired color target in an unknown environment. Obstacle avoidance control was based on a fuzzy system. Experiments confirmed that the proposed control scheme worked properly and was suitable for rescue tasks.