本文選題：果園機(jī)器人 + 自主導(dǎo)航��； 參考：《農(nóng)機(jī)化研究》2017年08期

【摘要】：針對果園中農(nóng)業(yè)移動機(jī)器人的自主導(dǎo)航問題,提出了一種基于圖像邊界提取的自主導(dǎo)航系統(tǒng)。首先,通過攝像機(jī)采集果園場景圖像,并利用均值偏移算法對圖像中的像素點(diǎn)進(jìn)行聚類;然后,采用基于圖論的圖像分割算法,根據(jù)預(yù)定義類別對圖像進(jìn)行分割;接著,提取出所需類的圖像區(qū)域,并利用Canny算子對該區(qū)域圖像的邊緣進(jìn)行檢測和濾波;最后,利用Hough變換提取出該區(qū)域的邊界線,從而獲得機(jī)器人的行進(jìn)路線。實(shí)驗(yàn)結(jié)果表明:該方案在不需要先驗(yàn)知識的情況下,能夠快速、有效地獲得最優(yōu)路徑。
[Abstract]:In order to solve the problem of autonomous navigation for agricultural mobile robots in orchards, an autonomous navigation system based on image boundary extraction is proposed. Firstly, the Orchard scene image is collected by the camera, and the pixel points in the image are clustered by the mean shift algorithm. Then, the image segmentation algorithm based on graph theory is used to segment the image according to the predefined category. The image region of the required class is extracted, and the edge of the region is detected and filtered by using Canny operator. Finally, the boundary line of the region is extracted by using Hough transform, and the moving path of the robot is obtained. The experimental results show that the proposed scheme can obtain the optimal path quickly and effectively without prior knowledge.
【作者單位】： 四川工程職業(yè)技術(shù)學(xué)院電氣信息工程系;電子科技大學(xué)計(jì)算機(jī)科學(xué)與工程學(xué)院;
【基金】：四川省科技廳計(jì)劃項(xiàng)目(2015JY0178)
【分類號】：S24;TP391.41

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